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add: Battery_Status_V2 MAVLink stream #25347
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,142 @@ | ||
| /**************************************************************************** | ||
| * | ||
| * Copyright (c) 2025 PX4 Development Team. All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * 1. Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * 2. Redistributions in binary form must reproduce the above copyright | ||
| * notice, this list of conditions and the following disclaimer in | ||
| * the documentation and/or other materials provided with the | ||
| * distribution. | ||
| * 3. Neither the name PX4 nor the names of its contributors may be | ||
| * used to endorse or promote products derived from this software | ||
| * without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS | ||
| * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED | ||
| * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| * | ||
| ****************************************************************************/ | ||
|
|
||
| #ifndef BATTERY_STATUS_V2_HPP | ||
| #define BATTERY_STATUS_V2_HPP | ||
|
|
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| #include <uORB/topics/battery_status.h> | ||
|
|
||
| class MavlinkStreamBatteryStatusV2 : public MavlinkStream | ||
| { | ||
| public: | ||
| static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamBatteryStatusV2(mavlink); } | ||
|
|
||
| static constexpr const char *get_name_static() { return "BATTERY_STATUS_V2"; } | ||
| static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_BATTERY_STATUS_V2; } | ||
|
|
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| const char *get_name() const override { return get_name_static(); } | ||
| uint16_t get_id() override { return get_id_static(); } | ||
|
|
||
| unsigned get_size() override | ||
| { | ||
| static constexpr unsigned size_per_battery = MAVLINK_MSG_ID_BATTERY_STATUS_V2_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; | ||
| return size_per_battery * _battery_status_subs.advertised_count(); | ||
| } | ||
|
|
||
| private: | ||
| explicit MavlinkStreamBatteryStatusV2(Mavlink *mavlink) : MavlinkStream(mavlink) {} | ||
|
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| uORB::SubscriptionMultiArray<battery_status_s, battery_status_s::MAX_INSTANCES> _battery_status_subs{ORB_ID::battery_status}; | ||
|
|
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| bool send() override | ||
| { | ||
| bool updated = false; | ||
|
|
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| for (auto &battery_sub : _battery_status_subs) { | ||
| battery_status_s battery_status; | ||
|
|
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| if (battery_sub.update(&battery_status)) { | ||
| mavlink_battery_status_v2_t bat_msg{}; | ||
|
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| bat_msg.id = battery_status.id; | ||
| bat_msg.temperature = (battery_status.connected | ||
| && PX4_ISFINITE(battery_status.temperature)) ? static_cast<int16_t>(battery_status.temperature * 1e2f) : INT16_MAX; | ||
| bat_msg.voltage = (battery_status.connected | ||
| && PX4_ISFINITE(battery_status.voltage_v) | ||
| && !math::isZero(battery_status.voltage_v)) ? battery_status.voltage_v : float(NAN); | ||
| bat_msg.current = (battery_status.connected | ||
| && PX4_ISFINITE(battery_status.current_a) | ||
| && fabsf(battery_status.current_a - (-1.0f)) > FLT_EPSILON) ? battery_status.current_a : float(NAN); | ||
| bat_msg.capacity_consumed = (battery_status.connected | ||
| && PX4_ISFINITE(battery_status.discharged_mah) | ||
| && fabsf(battery_status.discharged_mah - (-1.0f)) > FLT_EPSILON) ? battery_status.discharged_mah * 1e-3f : float(NAN); | ||
| bat_msg.capacity_remaining = (battery_status.connected && PX4_ISFINITE(battery_status.remaining_capacity_wh) | ||
| && PX4_ISFINITE(battery_status.nominal_voltage) | ||
| && !math::isZero(battery_status.nominal_voltage)) ? | ||
| battery_status.remaining_capacity_wh / battery_status.nominal_voltage : float(NAN); | ||
| bat_msg.percent_remaining = (battery_status.connected && PX4_ISFINITE(battery_status.remaining) | ||
| && fabsf(battery_status.remaining - (-1.0f)) > FLT_EPSILON) ? | ||
| static_cast<uint8_t>(roundf(battery_status.remaining * 1e2f)) : UINT8_MAX; | ||
|
|
||
| bat_msg.status_flags = get_status_flags(battery_status); | ||
|
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| mavlink_msg_battery_status_v2_send_struct(_mavlink->get_channel(), &bat_msg); | ||
| updated = true; | ||
| } | ||
| } | ||
|
|
||
| return updated; | ||
| } | ||
|
|
||
| inline uint32_t get_status_flags(const battery_status_s &battery_status) const | ||
| { | ||
| uint32_t status_flags = 0; | ||
| uint16_t faults = battery_status.faults; | ||
|
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||
| if (battery_status.warning == battery_status_s::STATE_UNHEALTHY) { | ||
| status_flags |= MAV_BATTERY_STATUS_FLAGS_NOT_READY_TO_USE; | ||
| } | ||
|
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| if (battery_status.warning == battery_status_s::STATE_CHARGING) { | ||
| status_flags |= MAV_BATTERY_STATUS_FLAGS_CHARGING; | ||
| } | ||
|
|
||
| if (faults & battery_status_s::FAULT_HARDWARE_FAILURE) { | ||
| status_flags |= MAV_BATTERY_STATUS_FLAGS_REQUIRES_SERVICE | MAV_BATTERY_STATUS_FLAGS_BAD_BATTERY; | ||
| } | ||
|
|
||
| if (faults & battery_status_s::FAULT_OVER_TEMPERATURE) { | ||
| status_flags |= MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_TEMPERATURE; | ||
| } | ||
|
|
||
| if (faults & battery_status_s::FAULT_UNDER_TEMPERATURE) { | ||
| status_flags |= MAV_BATTERY_STATUS_FLAGS_FAULT_UNDER_TEMPERATURE; | ||
| } | ||
|
|
||
| if (faults & battery_status_s::FAULT_OVER_CURRENT) { | ||
| status_flags |= MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_CURRENT; | ||
| } | ||
|
|
||
| if (faults & battery_status_s::FAULT_INCOMPATIBLE_VOLTAGE) { | ||
| status_flags |= MAV_BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_VOLTAGE; | ||
| } | ||
|
|
||
| if (faults & battery_status_s::FAULT_INCOMPATIBLE_FIRMWARE) { | ||
| status_flags |= MAV_BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_FIRMWARE; | ||
| } | ||
|
|
||
| return status_flags; | ||
| } | ||
| }; | ||
|
|
||
| #endif // BATTERY_STATUS_V2_HPP |
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@MaEtUgR What's the normal way we handle the case where we are migrating between messages for the MAVLINK_MODE_NORMAL case (where it is OTA).
My guess is that we'd initially stream both like this, but we might also update QGC to request the message type it wants and set the other not to stream?