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SMART_BATTERY_INFO to BATTERY_INFO (PX4#22875)
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* Update submodule mavlink to latest Wed Mar 13 01:02:16 UTC 2024

    - mavlink in PX4/Firmware (497327e): mavlink/mavlink@c4a5c49
    - mavlink current upstream: mavlink/mavlink@a3558d6
    - Changes: mavlink/mavlink@c4a5c49...a3558d6

    a3558d6b 2024-03-07 Hamish Willee - common - DO_FENCE_ENABLE/PARACHUTE fix (PX4#2090)
b9730e0f 2024-03-06 olliw42 - update RADIO_RC_CHANNELS to latest, remove all mlrs from storm32.xml (PX4#1919)
7fed0268 2024-03-06 Patrick José Pereira - common: MAV_CMD_DO_SET_SYS_CMP_ID: Add first version (PX4#2082)
2909b481 2024-03-06 Hamish Willee - Update Pymavlink (PX4#2089)
e9b532a9 2024-03-05 Randy Mackay - common: add set-camera-source command (PX4#2079)
bcdbeb7f 2024-03-01 auturgy - Allow individual fences to be enabled and disabled (PX4#2085)
2f8403d1 2024-02-29 Hamish Willee - MAV_CMD_ODID_SET_EMERGENCY -  (PX4#2086)
daa59c02 2024-02-22 Peter Barker - common.xml: add a command to deal with safety switch (PX4#2081)
977332e2 2024-02-14 Hamish Willee - COMPONENT_INFORMATION_BASIC - add manufacturer date (PX4#2078)
4fef7de2 2024-02-07 Randy Mackay - Common: rename SMART_BATTERY_INFO to BATTERY_INFO and add SOH (PX4#2070)
3865b311 2024-02-01 Hamish Willee - FLIGHT_INFORMATION - description to match PX4 (PX4#2067)
f80e6818 2024-01-31 KonradRudin - development.xml: merge both MAV_CMD enums together (PX4#2074)

* SMART_BATTERY_INFO to BATTERY_INFO on new mavlink module

* Update src/modules/mavlink/streams/BATTERY_INFO.hpp

* fix trivial whitespace

---------

Co-authored-by: PX4 BuildBot <[email protected]>
Co-authored-by: Daniel Agar <[email protected]>
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@hamishwillee @PX4BuildBot @dagar
3 people authored Mar 19, 2024
1 parent 2e6dd24 commit 95627ea
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Showing 3 changed files with 41 additions and 27 deletions.
2 changes: 1 addition & 1 deletion src/modules/mavlink/mavlink
Submodule mavlink updated 4 files
+97 −24 message_definitions/v1.0/common.xml
+94 −36 message_definitions/v1.0/development.xml
+1 −47 message_definitions/v1.0/storm32.xml
+1 −1 pymavlink
8 changes: 4 additions & 4 deletions src/modules/mavlink/mavlink_messages.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -132,6 +132,7 @@
#if !defined(CONSTRAINED_FLASH)
# include "streams/ADSB_VEHICLE.hpp"
# include "streams/AUTOPILOT_STATE_FOR_GIMBAL_DEVICE.hpp"
# include "streams/BATTERY_INFO.hpp"
# include "streams/DEBUG.hpp"
# include "streams/DEBUG_FLOAT_ARRAY.hpp"
# include "streams/DEBUG_VECT.hpp"
Expand All @@ -147,7 +148,6 @@
# include "streams/ODOMETRY.hpp"
# include "streams/SCALED_PRESSURE2.hpp"
# include "streams/SCALED_PRESSURE3.hpp"
# include "streams/SMART_BATTERY_INFO.hpp"
# include "streams/UAVIONIX_ADSB_OUT_CFG.hpp"
# include "streams/UAVIONIX_ADSB_OUT_DYNAMIC.hpp"
# include "streams/UTM_GLOBAL_POSITION.hpp"
Expand Down Expand Up @@ -259,9 +259,9 @@ static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamSysStatus>(),
#endif // SYS_STATUS_HPP
create_stream_list_item<MavlinkStreamBatteryStatus>(),
#if defined(SMART_BATTERY_INFO_HPP)
create_stream_list_item<MavlinkStreamSmartBatteryInfo>(),
#endif // SMART_BATTERY_INFO_HPP
#if defined(BATTERY_INFO_HPP)
create_stream_list_item<MavlinkStreamBatteryInfo>(),
#endif // BATTERY_INFO_HPP
#if defined(HIGHRES_IMU_HPP)
create_stream_list_item<MavlinkStreamHighresIMU>(),
#endif // HIGHRES_IMU_HPP
Expand Down
58 changes: 36 additions & 22 deletions ...es/mavlink/streams/SMART_BATTERY_INFO.hpp → src/modules/mavlink/streams/BATTERY_INFO.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,30 +31,30 @@
*
****************************************************************************/

#ifndef SMART_BATTERY_INFO_HPP
#define SMART_BATTERY_INFO_HPP
#ifndef BATTERY_INFO_HPP
#define BATTERY_INFO_HPP

#include <uORB/topics/battery_status.h>

class MavlinkStreamSmartBatteryInfo : public MavlinkStream
class MavlinkStreamBatteryInfo : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamSmartBatteryInfo(mavlink); }
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamBatteryInfo(mavlink); }

static constexpr const char *get_name_static() { return "SMART_BATTERY_INFO"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SMART_BATTERY_INFO; }
static constexpr const char *get_name_static() { return "BATTERY_INFO"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_BATTERY_INFO; }

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_SMART_BATTERY_INFO_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
static constexpr unsigned size_per_battery = MAVLINK_MSG_ID_BATTERY_INFO_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
return size_per_battery * _battery_status_subs.advertised_count();
}

private:
explicit MavlinkStreamSmartBatteryInfo(Mavlink *mavlink) : MavlinkStream(mavlink) {}
explicit MavlinkStreamBatteryInfo(Mavlink *mavlink) : MavlinkStream(mavlink) {}

uORB::SubscriptionMultiArray<battery_status_s, battery_status_s::MAX_INSTANCES> _battery_status_subs{ORB_ID::battery_status};

Expand All @@ -67,36 +67,50 @@ class MavlinkStreamSmartBatteryInfo : public MavlinkStream

if (battery_sub.update(&battery_status)) {
if (battery_status.serial_number == 0) {
// This is not smart battery
// Required to emit
continue;
}

mavlink_smart_battery_info_t msg{};
mavlink_battery_info_t msg{};

msg.id = battery_status.id - 1;
msg.capacity_full_specification = battery_status.capacity;
msg.capacity_full = (int32_t)((float)(battery_status.state_of_health * battery_status.capacity) / 100.f);
msg.design_capacity = (float)(battery_status.capacity * 1000);
msg.full_charge_capacity = (float)(battery_status.state_of_health * battery_status.capacity * 1000.f) / 100.f;
msg.cycle_count = battery_status.cycle_count;

if (battery_status.manufacture_date) {
uint16_t day = battery_status.manufacture_date % 32;
uint16_t month = (battery_status.manufacture_date >> 5) % 16;
uint16_t year = (80 + (battery_status.manufacture_date >> 9)) % 100;
uint16_t year = (80 + (battery_status.manufacture_date >> 9));
uint16_t year2dig = year % 100;

//Formatted as 'ddmmyyyy' (maxed 9 chars)
snprintf(msg.manufacture_date, sizeof(msg.manufacture_date), "%d%d%d", day, month, year);
//Formatted as 'dd/mm/yy-123456' (maxed 15 + 1 chars)
snprintf(msg.serial_number, sizeof(msg.serial_number), "%d/%d/%d-%d", day, month, year, battery_status.serial_number);
snprintf(msg.serial_number, sizeof(msg.serial_number), "%d/%d/%d-%d", day, month, year2dig,
battery_status.serial_number);

} else {

snprintf(msg.serial_number, sizeof(msg.serial_number), "%d", battery_status.serial_number);
}

//msg.device_name = ??
msg.weight = -1;
msg.discharge_minimum_voltage = -1;
msg.charging_minimum_voltage = -1;
msg.resting_minimum_voltage = -1;

mavlink_msg_smart_battery_info_send_struct(_mavlink->get_channel(), &msg);
// Not supported by PX4 (not in battery_status uorb topic)
/*
msg.name = 0; // char[50]
msg.weight = 0;
msg.discharge_minimum_voltage = 0;
msg.charging_minimum_voltage = 0;
msg.resting_minimum_voltage = 0;
msg.charging_maximum_voltage = 0;
msg.charging_maximum_current = 0;
msg.discharge_maximum_current = 0;
msg.discharge_maximum_burst_current = 0;
msg.cells_in_series = 0;
msg.nominal_voltage = 0;
*/

mavlink_msg_battery_info_send_struct(_mavlink->get_channel(), &msg);
updated = true;
}
}
Expand All @@ -105,4 +119,4 @@ class MavlinkStreamSmartBatteryInfo : public MavlinkStream
}
};

#endif // SMART_BATTERY_INFO_HPP
#endif // BATTERY_INFO_HPP

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