Introduce battery_info uORB message for static data like the serial number

msg/BatteryInfo.msg

@@ -0,0 +1,9 @@
+# Battery information
+#
+# Static or near-invariant battery information.
+# Should be streamed at low rate.
+
+uint64 timestamp # [us] Time since system start
+
+uint8 id # Must match the id in the battery_status message for the same battery
+char[32] serial_number # [@invalid 0 All bytes] Serial number of the battery pack in ASCII characters, 0 terminated

msg/CMakeLists.txt

@@ -47,6 +47,7 @@ set(msg_files
 	Airspeed.msg
 	AirspeedWind.msg
 	AutotuneAttitudeControlStatus.msg
+	BatteryInfo.msg
 	ButtonEvent.msg
 	CameraCapture.msg
 	CameraStatus.msg

msg/px4_msgs_old/msg/BatteryStatusV0.msg

@@ -0,0 +1,79 @@
+# Battery status
+#
+# Battery status information for up to 4 battery instances.
+# These are populated from power module and smart battery device drivers, and one battery updated from MAVLink.
+# Battery instance information is also logged and streamed in MAVLink telemetry.
+
+uint32 MESSAGE_VERSION = 0
+uint8 MAX_INSTANCES = 4
+
+uint64 timestamp # [us] Time since system start
+bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
+float32 voltage_v # [V] [@invalid 0] Battery voltage
+float32 current_a # [A] [@invalid -1] Battery current
+float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight)
+float32 discharged_mah # [mAh] [@invalid -1] Discharged amount
+float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity
+float32 scale # [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
+float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
+float32 temperature # [°C] [@invalid NaN] Temperature of the battery
+uint8 cell_count # [@invalid 0] Number of cells
+
+
+uint8 source # [@enum SOURCE] Battery source
+uint8 SOURCE_POWER_MODULE = 0 # Power module
+uint8 SOURCE_EXTERNAL = 1 # External
+uint8 SOURCE_ESCS = 2 # ESCs
+
+uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
+uint16 capacity # [mAh] Capacity of the battery when fully charged
+uint16 cycle_count # Number of discharge cycles the battery has experienced
+uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
+uint16 serial_number # Serial number of the battery pack
+uint16 manufacture_date # Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
+uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
+uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
+uint8 id # ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
+uint16 interface_error # Interface error counter
+
+float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages
+float32 max_cell_voltage_delta # Max difference between individual cell voltages
+
+bool is_powering_off # Power off event imminent indication, false if unknown
+bool is_required # Set if the battery is explicitly required before arming
+
+uint8 warning # [@enum WARNING STATE] Current battery warning
+uint8 WARNING_NONE = 0 # No battery low voltage warning active
+uint8 WARNING_LOW = 1 # Low voltage warning
+uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
+uint8 WARNING_EMERGENCY = 3 # Immediate landing required
+uint8 WARNING_FAILED = 4 # Battery has failed completely
+uint8 STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field
+uint8 STATE_CHARGING = 7 # Battery is charging
+
+uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication
+uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
+uint8 FAULT_SPIKES = 1 # Voltage spikes
+uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed
+uint8 FAULT_OVER_CURRENT = 3 # Over-current
+uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature
+uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
+uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
+uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
+uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
+uint8 FAULT_HARDWARE_FAILURE = 9 # Hardware problem
+uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
+uint8 FAULT_COUNT = 11 # Counter. Keep this as last element
+
+float32 full_charge_capacity_wh # [Wh] Compensated battery capacity
+float32 remaining_capacity_wh # [Wh] Compensated battery capacity remaining
+uint16 over_discharge_count # Number of battery overdischarge
+float32 nominal_voltage # [V] Nominal voltage of the battery pack
+
+float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
+float32 ocv_estimate # [V] Open circuit voltage estimate
+float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate
+float32 volt_based_soc_estimate # [@range 0, 1] Normalized volt based state of charge estimate
+float32 voltage_prediction # [V] Predicted voltage
+float32 prediction_error # [V] Prediction error
+float32 estimation_covariance_norm # Norm of the covariance matrix

msg/translation_node/translations/all_translations.h

@@ -6,12 +6,9 @@
 
 #include <translation_util.h>
 
-//#include "example_translation_direct_v1.h"
-//#include "example_translation_multi_v2.h"
-//#include "example_translation_service_v1.h"
-
-#include "translation_vehicle_status_v1.h"
 #include "translation_airspeed_validated_v1.h"
-#include "translation_vehicle_attitude_setpoint_v1.h"
 #include "translation_arming_check_reply_v1.h"
+#include "translation_battery_status_v1.h"
 #include "translation_event_v1.h"
+#include "translation_vehicle_attitude_setpoint_v1.h"
+#include "translation_vehicle_status_v1.h"

msg/translation_node/translations/translation_battery_status_v1.h

@@ -0,0 +1,114 @@
+/****************************************************************************
+ * Copyright (c) 2025 PX4 Development Team.
+ * SPDX-License-Identifier: BSD-3-Clause
+ ****************************************************************************/
+#pragma once
+
+// Translate BatteryStatus v0 <--> v1
+#include <px4_msgs_old/msg/battery_status_v0.hpp>
+#include <px4_msgs/msg/battery_status.hpp>
+
+class BatteryStatusV1Translation {
+public:
+	using MessageOlder = px4_msgs_old::msg::BatteryStatusV0;
+	static_assert(MessageOlder::MESSAGE_VERSION == 0);
+
+	using MessageNewer = px4_msgs::msg::BatteryStatus;
+	static_assert(MessageNewer::MESSAGE_VERSION == 1);
+
+	static constexpr const char* kTopic = "fmu/out/battery_status";
+
+	static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
+		msg_newer.timestamp = msg_older.timestamp;
+		msg_newer.connected = msg_older.connected;
+		msg_newer.voltage_v = msg_older.voltage_v;
+		msg_newer.current_a = msg_older.current_a;
+		msg_newer.current_average_a = msg_older.current_average_a;
+		msg_newer.discharged_mah = msg_older.discharged_mah;
+		msg_newer.remaining = msg_older.remaining;
+		msg_newer.scale = msg_older.scale;
+		msg_newer.time_remaining_s = msg_older.time_remaining_s;
+		msg_newer.temperature = msg_older.temperature;
+		msg_newer.cell_count = msg_older.cell_count;
+		msg_newer.source = msg_older.source;
+		msg_newer.priority = msg_older.priority;
+		msg_newer.capacity = msg_older.capacity;
+		msg_newer.cycle_count = msg_older.cycle_count;
+		msg_newer.average_time_to_empty = msg_older.average_time_to_empty;
+		// The serial number moved to the battery_info message and is char[32] instead of uint16
+		msg_newer.manufacture_date = msg_older.manufacture_date;
+		msg_newer.state_of_health = msg_older.state_of_health;
+		msg_newer.max_error = msg_older.max_error;
+		msg_newer.id = msg_older.id;
+		msg_newer.interface_error = msg_older.interface_error;
+
+		for (int i = 0; i < 14; ++i) {
+			msg_newer.voltage_cell_v[i] = msg_older.voltage_cell_v[i];
+		}
+
+		msg_newer.max_cell_voltage_delta = msg_older.max_cell_voltage_delta;
+		msg_newer.is_powering_off = msg_older.is_powering_off;
+		msg_newer.is_required = msg_older.is_required;
+		msg_newer.warning = msg_older.warning;
+		msg_newer.faults = msg_older.faults;
+		msg_newer.full_charge_capacity_wh = msg_older.full_charge_capacity_wh;
+		msg_newer.remaining_capacity_wh = msg_older.remaining_capacity_wh;
+		msg_newer.over_discharge_count = msg_older.over_discharge_count;
+		msg_newer.nominal_voltage = msg_older.nominal_voltage;
+		msg_newer.internal_resistance_estimate = msg_older.internal_resistance_estimate;
+		msg_newer.ocv_estimate = msg_older.ocv_estimate;
+		msg_newer.ocv_estimate_filtered = msg_older.ocv_estimate_filtered;
+		msg_newer.volt_based_soc_estimate = msg_older.volt_based_soc_estimate;
+		msg_newer.voltage_prediction = msg_older.voltage_prediction;
+		msg_newer.prediction_error = msg_older.prediction_error;
+		msg_newer.estimation_covariance_norm = msg_older.estimation_covariance_norm;
+	}
+
+	static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
+		msg_older.timestamp = msg_newer.timestamp;
+		msg_older.connected = msg_newer.connected;
+		msg_older.voltage_v = msg_newer.voltage_v;
+		msg_older.current_a = msg_newer.current_a;
+		msg_older.current_average_a = msg_newer.current_average_a;
+		msg_older.discharged_mah = msg_newer.discharged_mah;
+		msg_older.remaining = msg_newer.remaining;
+		msg_older.scale = msg_newer.scale;
+		msg_older.time_remaining_s = msg_newer.time_remaining_s;
+		msg_older.temperature = msg_newer.temperature;
+		msg_older.cell_count = msg_newer.cell_count;
+		msg_older.source = msg_newer.source;
+		msg_older.priority = msg_newer.priority;
+		msg_older.capacity = msg_newer.capacity;
+		msg_older.cycle_count = msg_newer.cycle_count;
+		msg_older.average_time_to_empty = msg_newer.average_time_to_empty;
+		msg_older.serial_number = 0; // The serial number moved to the battery_info message and is char[32] instead of uint16
+		msg_older.manufacture_date = msg_newer.manufacture_date;
+		msg_older.state_of_health = msg_newer.state_of_health;
+		msg_older.max_error = msg_newer.max_error;
+		msg_older.id = msg_newer.id;
+		msg_older.interface_error = msg_newer.interface_error;
+
+		for (int i = 0; i < 14; ++i) {
+			msg_older.voltage_cell_v[i] = msg_newer.voltage_cell_v[i];
+		}
+
+		msg_older.max_cell_voltage_delta = msg_newer.max_cell_voltage_delta;
+		msg_older.is_powering_off = msg_newer.is_powering_off;
+		msg_older.is_required = msg_newer.is_required;
+		msg_older.warning = msg_newer.warning;
+		msg_older.faults = msg_newer.faults;
+		msg_older.full_charge_capacity_wh = msg_newer.full_charge_capacity_wh;
+		msg_older.remaining_capacity_wh = msg_newer.remaining_capacity_wh;
+		msg_older.over_discharge_count = msg_newer.over_discharge_count;
+		msg_older.nominal_voltage = msg_newer.nominal_voltage;
+		msg_older.internal_resistance_estimate = msg_newer.internal_resistance_estimate;
+		msg_older.ocv_estimate = msg_newer.ocv_estimate;
+		msg_older.ocv_estimate_filtered = msg_newer.ocv_estimate_filtered;
+		msg_older.volt_based_soc_estimate = msg_newer.volt_based_soc_estimate;
+		msg_older.voltage_prediction = msg_newer.voltage_prediction;
+		msg_older.prediction_error = msg_newer.prediction_error;
+		msg_older.estimation_covariance_norm = msg_newer.estimation_covariance_norm;
+	}
+};
+
+REGISTER_TOPIC_TRANSLATION_DIRECT(BatteryStatusV1Translation);

msg/versioned/BatteryStatus.msg

@@ -4,7 +4,7 @@
 # These are populated from power module and smart battery device drivers, and one battery updated from MAVLink.
 # Battery instance information is also logged and streamed in MAVLink telemetry.
 
-uint32 MESSAGE_VERSION = 0
+uint32 MESSAGE_VERSION = 1
 uint8 MAX_INSTANCES = 4
 
 uint64 timestamp # [us] Time since system start
@@ -29,7 +29,6 @@ uint8 priority # Zero based priority is the connection on the Power Controller V
 uint16 capacity # [mAh] Capacity of the battery when fully charged
 uint16 cycle_count # Number of discharge cycles the battery has experienced
 uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
-uint16 serial_number # Serial number of the battery pack
 uint16 manufacture_date # Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
 uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
 uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation

src/drivers/batt_smbus/batt_smbus.cpp

@@ -77,6 +77,7 @@ BATT_SMBUS::BATT_SMBUS(const I2CSPIDriverConfig &config, SMBus *interface) :
 
 BATT_SMBUS::~BATT_SMBUS()
 {
+	orb_unadvertise(_battery_info_topic);
 	orb_unadvertise(_batt_topic);
 	perf_free(_cycle);
 
@@ -165,7 +166,6 @@ void BATT_SMBUS::RunImpl()
 	if (ret == PX4_OK) {
 		new_report.capacity = _batt_capacity;
 		new_report.cycle_count = _cycle_count;
-		new_report.serial_number = _serial_number;
 		new_report.max_cell_voltage_delta = _max_cell_voltage_delta;
 		new_report.cell_count = _cell_count;
 		new_report.state_of_health = _state_of_health;
@@ -192,6 +192,13 @@ void BATT_SMBUS::RunImpl()
 		int instance = 0;
 		orb_publish_auto(ORB_ID(battery_status), &_batt_topic, &new_report, &instance);
 
+		battery_info_s battery_info{};
+		battery_info.timestamp = new_report.timestamp;
+		battery_info.id = new_report.id;
+		snprintf(battery_info.serial_number, sizeof(battery_info.serial_number), "%" PRIu16, _serial_number);
+		orb_publish_auto(ORB_ID(battery_info), &_battery_info_topic, &battery_info, &instance);
+
+
 		_last_report = new_report;
 	}
 }

src/drivers/batt_smbus/batt_smbus.h

@@ -52,6 +52,7 @@
 #include <px4_platform_common/param.h>
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/i2c_spi_buses.h>
+#include <uORB/topics/battery_info.h>
 #include <uORB/topics/battery_status.h>
 
 #include <board_config.h>
@@ -242,7 +243,7 @@ class BATT_SMBUS : public I2CSPIDriver<BATT_SMBUS>
 	/** @param _last_report Last published report, used for test(). */
 	battery_status_s _last_report{};
 
-	/** @param _batt_topic uORB battery topic. */
+	orb_advert_t _battery_info_topic{nullptr};
 	orb_advert_t _batt_topic{nullptr};
 
 	/** @param _cell_count Number of series cell. */

src/drivers/cyphal/Subscribers/legacy/LegacyBatteryInfo.hpp

@@ -94,7 +94,6 @@ class UavcanLegacyBatteryInfoSubscriber : public UavcanDynamicPortSubscriber
 		bat_status.connected = bat_info.status_flags & legacy_equipment_power_BatteryInfo_1_0_STATUS_FLAG_IN_USE;
 		bat_status.source = 1; // External
 		bat_status.capacity = bat_info.full_charge_capacity_wh;
-		bat_status.serial_number = bat_info.model_instance_id & 0xFFFF; // Take first 16 bits
 		bat_status.state_of_health = bat_info.state_of_health_pct; // External
 		bat_status.id = bat_info.battery_id;
 
@@ -118,9 +117,17 @@ class UavcanLegacyBatteryInfoSubscriber : public UavcanDynamicPortSubscriber
 
 		_battery_status_pub.publish(bat_status);
 		print_message(ORB_ID(battery_status), bat_status);
+
+		battery_info_s battery_info{};
+		battery_info.timestamp = bat_status.timestamp;
+		battery_info.id = bat_status.id;
+		snprintf(battery_info.serial_number, sizeof(battery_info.serial_number), "%" PRIu32,
+			 bat_info.model_instance_id);
+		_battery_info_pub.publish(battery_info);
 	};
 
 private:
+	uORB::PublicationMulti<battery_info_s> _battery_info_pub{ORB_ID(battery_info)};
 	uORB::PublicationMulti<battery_status_s> _battery_status_pub{ORB_ID(battery_status)};
 
 };

src/drivers/cyphal/Subscribers/udral/Battery.hpp

@@ -41,6 +41,7 @@
 
 #pragma once
 
+#include <uORB/topics/battery_info.h>
 #include <uORB/topics/battery_status.h>
 #include <uORB/PublicationMulti.hpp>
 
@@ -120,6 +121,10 @@ class UavcanBmsSubscriber : public UavcanDynamicPortSubscriber
 			// TODO uORB publication rate limiting
 			_battery_status_pub.publish(bat_status);
 
+			_battery_info.timestamp = bat_status.timestamp;
+			_battery_info.id = bat_status.id;
+			_battery_info_pub.publish(_battery_info);
+
 		} else if (receive.metadata.port_id == _status_sub._canard_sub.port_id) {
 			reg_udral_service_battery_Status_0_2 bat {};
 			size_t bat_size_in_bytes = receive.payload_size;
@@ -163,7 +168,7 @@ class UavcanBmsSubscriber : public UavcanDynamicPortSubscriber
 
 			bat_status.capacity = parameters.design_capacity.coulomb / 3.6f; // Coulomb -> mAh
 			bat_status.cycle_count = parameters.cycle_count;
-			bat_status.serial_number = parameters.unique_id & 0xFFFF;
+			snprintf(_battery_info.serial_number, sizeof(_battery_info.serial_number), "%" PRIu64, parameters.unique_id);
 			bat_status.state_of_health = parameters.state_of_health_pct;
 			bat_status.max_error = 1; // UAVCAN didn't spec'ed this, but we're optimistic
 			bat_status.id = 0; //TODO instancing
@@ -174,6 +179,7 @@ class UavcanBmsSubscriber : public UavcanDynamicPortSubscriber
 private:
 	float _nominal_voltage = NAN;
 
+	uORB::PublicationMulti<battery_info_s> _battery_info_pub{ORB_ID(battery_info)};
 	uORB::PublicationMulti<battery_status_s> _battery_status_pub{ORB_ID(battery_status)};
 
 	SubjectSubscription _status_sub;
@@ -182,5 +188,6 @@ class UavcanBmsSubscriber : public UavcanDynamicPortSubscriber
 	const char *_status_name = "battery_status";
 	const char *_parameters_name = "battery_parameters";
 
+	battery_info_s _battery_info{};
 	battery_status_s bat_status {0};
 };

src/drivers/smart_battery/batmon/batmon.cpp

@@ -191,7 +191,6 @@ void Batmon::RunImpl()
 	if (ret == PX4_OK) {
 		new_report.capacity = _batt_capacity;
 		new_report.cycle_count = _cycle_count;
-		new_report.serial_number = _serial_number;
 		new_report.max_cell_voltage_delta = _max_cell_voltage_delta;
 		new_report.cell_count = _cell_count;
 		new_report.state_of_health = _state_of_health;
@@ -220,6 +219,12 @@ void Batmon::RunImpl()
 		orb_publish_auto(ORB_ID(battery_status), &_batt_topic, &new_report, &instance);
 
 		_last_report = new_report;
+
+		battery_info_s battery_info{};
+		battery_info.timestamp = new_report.timestamp;
+		battery_info.id = new_report.id;
+		snprintf(battery_info.serial_number, sizeof(battery_info.serial_number), "%" PRIu16, _serial_number);
+		orb_publish_auto(ORB_ID(battery_info), &_battery_info_topic, &battery_info, &instance);
 	}
 }