Support for CBAT uavcan message parsing #24973

MaEtUgR · 2025-06-04T17:07:51Z

Solved Problem

Related to #24960 when trying to track the serial number of Tattu UAVCAN batteries, we found that they only provide this information in a separate cuav::equipment::power::CBAT message.

Closes #24088

Solution

Add parsing for said message while stopping to pars the other UAVCAN battery information messages for any instance that provides CBAT because it contains a superset of the battery fields.

Changelog Entry

Support for CBAT uavcan message parsing

Test coverage

This kind of battery is the main way I'm testing the latest version of #24960 (comment) so please see there for results and screenshot.

src/drivers/uavcan/sensors/battery.cpp

MaEtUgR · 2025-06-24T12:14:37Z

Now that #24960 was merged I rebased these two commits and they are ready for review.

github-actions · 2025-06-24T12:19:16Z

🔎 FLASH Analysis

px4_fmu-v5x [Total VM Diff: 2200 byte (0.1 %)]

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Updated: 2025-06-25T14:23:26

src/drivers/uavcan/sensors/battery.cpp

- timestamp was 0 if uavcan::BatteryInfo was received before uavcan::BatteryInfoAux - scale was not set as unknown (-1) even though it is since it's never updated - time_remaining was not initialized correctly and could sometimes be 0 unexpectedly which causes the drone to failsafe because there's reportedly no flight time left

emitted by e.g. uavcan Tattu batteries.

MaEtUgR · 2025-06-25T14:22:04Z

Thanks to @sfuhrer 's review I was able to fix multiple mistakes in the original version:

Current and average current were reported negative
Discharged mAh were mistakenly converted Wh -> mAh even though the message already contains mAh
For the scale field I added the explicit float literal postfix .f
Adapted the time_remaining field calculation for positive current
Restructured a bit for readability

Here's the exact diff from https://github.com/PX4/PX4-Autopilot/compare/a5d609616d76c2fbc43aa6af6737ce7e434259ad..2b50feae877a9c227053be410fe5c8688cc5c0eb#diff-d80076ce90512824ec6432761dee8db1468f527072bc8eb0ab386ac42978ffd8R227

sfuhrer

Cool that you could solve so many old issues in one go!

MaEtUgR self-assigned this Jun 4, 2025

MaEtUgR commented Jun 6, 2025

View reviewed changes

src/drivers/uavcan/sensors/battery.cpp Show resolved Hide resolved

MaEtUgR force-pushed the maetugr/battery-info branch 2 times, most recently from e584afa to d6cf5a4 Compare June 11, 2025 09:23

MaEtUgR force-pushed the maetugr/cbat branch 2 times, most recently from bec51bf to 31862fd Compare June 11, 2025 11:23

MaEtUgR force-pushed the maetugr/battery-info branch 3 times, most recently from 3c3889c to 32d5e4c Compare June 12, 2025 15:32

MaEtUgR force-pushed the maetugr/cbat branch from 31862fd to 188cb16 Compare June 12, 2025 15:51

MaEtUgR force-pushed the maetugr/battery-info branch from 32d5e4c to 0398d13 Compare June 12, 2025 15:56

MaEtUgR force-pushed the maetugr/cbat branch from 188cb16 to 10373da Compare June 12, 2025 15:57

MaEtUgR force-pushed the maetugr/battery-info branch from 0398d13 to 046eb10 Compare June 16, 2025 17:26

Base automatically changed from maetugr/battery-info to main June 17, 2025 07:05

MaEtUgR force-pushed the maetugr/cbat branch from 10373da to a5d6096 Compare June 24, 2025 12:13

MaEtUgR marked this pull request as ready for review June 24, 2025 12:13

MaEtUgR requested a review from sfuhrer June 24, 2025 12:15

sfuhrer reviewed Jun 24, 2025

View reviewed changes

src/drivers/uavcan/sensors/battery.cpp Outdated Show resolved Hide resolved

MaEtUgR force-pushed the maetugr/cbat branch from a5d6096 to 2b50fea Compare June 25, 2025 14:10

uavcan battery: add support for cuav::equipment::power::CBAT message

a7fcbe2

emitted by e.g. uavcan Tattu batteries.

MaEtUgR force-pushed the maetugr/cbat branch from 2b50fea to a7fcbe2 Compare June 25, 2025 14:16

sfuhrer approved these changes Jun 25, 2025

View reviewed changes

MaEtUgR merged commit bb6d43d into main Jun 25, 2025
69 checks passed

MaEtUgR deleted the maetugr/cbat branch June 25, 2025 19:11

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Support for CBAT uavcan message parsing #24973

Support for CBAT uavcan message parsing #24973

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MaEtUgR commented Jun 4, 2025 •

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Support for CBAT uavcan message parsing #24973

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MaEtUgR commented Jun 4, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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Changelog Entry

Test coverage

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MaEtUgR commented Jun 4, 2025 •

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