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Rename battery_uavcan to more genertic power_uavcan (#3299)

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This commit is contained in:
Christophe De Wagter
2024-06-11 15:17:12 +02:00
committed by GitHub
parent 167b1768e5
commit 19be47a427
6 changed files with 291 additions and 159 deletions
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conf/airframes/tudelft/rot_wing_25kg.xml
+5 -8
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@@ -33,12 +33,11 @@
<define name="IMU_GYRO_ABI_SEND_ID" value="IMU_PIXHAWK2_ID"/>
<define name="IMU_ACCEL_ABI_SEND_ID" value="IMU_PIXHAWK2_ID"/>
<!-- Range sensor connected to supercan -->
<!-- Sensors connected to supercan -->
<module name="range_sensor_uavcan"/>
<module name="battery_uavcan"/>
<!-- Disable current sensing using UAVCAN -->
<define name="UAVCAN_ACTUATORS_USE_CURRENT" value="FALSE"/>
<module name="power_uavcan">
<define name="POWER_UAVCAN_BATTERY_CIRCUITS" value="{{14,0},{6,1}}"/>
</module>
<!-- Log in high speed (Remove for outdoor flights) -->
<!-- <define name="IMU_LOG_HIGHSPEED" value="TRUE"/> -->
@@ -203,7 +202,6 @@
<set servo="MOTOR_PUSH" value="($th_hold? -9600 : actuators_pprz[8])"/>
<set servo="SERVO_ELEVATOR" value="($servo_hold? (RadioControlValues(RADIO_PITCH)/4+7200) : (!autopilot_in_flight()? 0 : actuators_pprz[5]))"/>
<set servo="SERVO_RUDDER" value="($servo_hold? RadioControlValues(RADIO_YAW) : (!autopilot_in_flight()? 0 : actuators_pprz[4]))"/>
<!--set servo="ROTATION_MECH" value="rotwing_state_skewing.servo_pprz_cmd"/>
<set servo="AIL_RIGHT" value="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[6])"/>
<set servo="FLAP_RIGHT" value="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[7])"/>
<set servo="AIL_LEFT" value="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[6])"/>
@@ -218,7 +216,6 @@
<set servo="BMOTOR_PUSH" value="($th_hold? -9600 : actuators_pprz[8])"/>
<set servo="BSERVO_ELEVATOR" value="($servo_hold? (RadioControlValues(RADIO_PITCH)/4+7200) : (!autopilot_in_flight()? 0 : actuators_pprz[5]))"/>
<set servo="BSERVO_RUDDER" value="($servo_hold? RadioControlValues(RADIO_YAW) : (!autopilot_in_flight()? 0 : actuators_pprz[4]))"/>
<!--set servo="BROTATION_MECH" value="rotwing_state_skewing.servo_pprz_cmd"/>
<set servo="BAIL_RIGHT" value="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[6])"/>
<set servo="BFLAP_RIGHT" value="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[7])"/>
<set servo="BAIL_LEFT" value="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[6])"/>
@@ -493,7 +490,7 @@
<define name="CATASTROPHIC_BAT_LEVEL" value="36.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="37.2" unit="V"/>
<define name="LOW_BAT_LEVEL" value="48.4" unit="V"/>
<define name="MAX_BAT_LEVEL" value="50.4" unit="V"/>
<define name="MAX_BAT_LEVEL" value="52.2" unit="V"/>
<define name="TAKEOFF_BAT_LEVEL" value="48.4" unit="V"/>
<define name="BAT_NB_CELLS" value="12"/>
</section>
conf/modules/battery_uavcan.xml
-20
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@@ -1,20 +0,0 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="battery_uavcan" dir="sensors" task="sensors">
<doc>
<description>
Battery sensor over the uavcan protocol
</description>
</doc>
<dep>
<depends>uavcan</depends>
<provides></provides>
</dep>
<header>
<file name="battery_uavcan.h"/>
</header>
<init fun="battery_uavcan_init()"/>
<makefile target="ap">
<file name="battery_uavcan.c"/>
</makefile>
</module>
conf/modules/power_uavcan.xml
+27
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@@ -0,0 +1,27 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="power_uavcan" dir="sensors" task="sensors">
<doc>
<description>
Power sensors over the uavcan protocol:
- BatteryInfo
- CircuitStatus
</description>
<section name="POWER_UAVCAN" prefix="POWER_UAVCAN_">
<define name="BATTERIES_MAX" value="3" description="Maximum number of batteries"/>
<define name="CIRCUITS_MAX" value="3" description="Maximum number of circuits"/>
<define name="BATTERY_CIRCUITS" value="{}" description="Struct of {node_id, circuit_id} indicating the batteries"/>
</section>
</doc>
<dep>
<depends>uavcan</depends>
<provides></provides>
</dep>
<header>
<file name="power_uavcan.h"/>
</header>
<init fun="power_uavcan_init()"/>
<makefile target="ap">
<file name="power_uavcan.c"/>
</makefile>
</module>