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AP_Scripting: fixed battery tag on 2nd CAN bus #31159

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merged 1 commit into from
Sep 29, 2025
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AP_Scripting: fixed battery tag on 2nd CAN bus #31159

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37 changes: 25 additions & 12 deletions libraries/AP_Scripting/applets/BatteryTag.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -54,11 +54,19 @@ if BTAG_ENABLE:get() == 0 then
end

-- a handle for receiving BatteryTag messages
local batterytag_handle = DroneCAN_Handle(0, BATTERYTAG_SIGNATURE, BATTERYTAG_ID)
batterytag_handle:subscribe()
local batterytag_handles = {
DroneCAN_Handle(0, BATTERYTAG_SIGNATURE, BATTERYTAG_ID),
DroneCAN_Handle(1, BATTERYTAG_SIGNATURE, BATTERYTAG_ID)
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I guess this holds us until someone uses a three-interface device :-)

}
for bus, _ in pairs(batterytag_handles) do
batterytag_handles[bus]:subscribe()
end

-- a handle for sending GlobalTime messages
local globaltime_handle = DroneCAN_Handle(0, GLOBALTIME_SIGNATURE, GLOBALTIME_ID)
local globaltime_handles = {
DroneCAN_Handle(0, GLOBALTIME_SIGNATURE, GLOBALTIME_ID),
DroneCAN_Handle(1, GLOBALTIME_SIGNATURE, GLOBALTIME_ID)
}

-- ID for an arming check
local auth_id = arming:get_aux_auth_id()
Expand All @@ -76,8 +84,8 @@ local GCS_REPORT_TIME_S = 30
--[[
check for BatteryTag messages
--]]
local function check_batterytag()
local payload, nodeid = batterytag_handle:check_message()
local function check_batterytag(bus)
local payload, nodeid = batterytag_handles[bus]:check_message()
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What happens here if there is only 1 bus?

if not payload then
return
end
Expand All @@ -90,10 +98,11 @@ local function check_batterytag()
highest_cycles = num_cycles
BTAG_CUR_CYCLES:set_and_save(highest_cycles)
end
if not node_cycles[nodeid] then
gcs:send_text(MAV_SEVERITY.INFO, string.format("BatteryTag: Node %d, Cycles %d", nodeid, num_cycles))
local node_tag = string.format("%d:%d", bus, nodeid)
if not node_cycles[node_tag] then
gcs:send_text(MAV_SEVERITY.INFO, string.format("BatteryTag: Node %s, Cycles %d", node_tag, num_cycles))
end
node_cycles[nodeid] = num_cycles
node_cycles[node_tag] = num_cycles

-- log battery information
logger:write("BTAG",
Expand Down Expand Up @@ -137,7 +146,9 @@ local function check_globaltime()
local usec_hi,usec_lo = utc_usec:split()
local payload8 = string.pack("II", usec_lo:toint(), usec_hi:toint())
local payload7 = string.sub(payload8, 1, 7)
globaltime_handle:broadcast(payload7)
for bus, _ in pairs(globaltime_handles) do
globaltime_handles[bus]:broadcast(payload7)
end
end

--[[
Expand All @@ -154,15 +165,17 @@ local function check_GCS()
then
-- report battery tags at GCS_REPORT_TIME_S seconds
sent_report = true
for nodeid, cycles in pairs(node_cycles) do
gcs:send_text(MAV_SEVERITY.INFO, string.format("BatteryTag: Node %d, Cycles %d", nodeid, cycles))
for node_tag, cycles in pairs(node_cycles) do
gcs:send_text(MAV_SEVERITY.INFO, string.format("BatteryTag: Node %s, Cycles %d", node_tag, cycles))
end
end
end

local function update()
if BTAG_ENABLE:get() ~= 0 then
check_batterytag()
for bus, _ in pairs(batterytag_handles) do
check_batterytag(bus)
end
check_globaltime()
check_GCS()
end
Expand Down
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