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New BATTERY_STATUS_V2 #1792

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New BATTERY_STATUS_V2 #1792

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773e9fc
TEMP GIT_TAG update to get mavlink battery status v2 branch
hamishwillee May 26, 2022
2e5344b
battery_status_v2 message handling
hamishwillee May 26, 2022
e80d2e1
Update the CMakeList with update changelist
hamishwillee Jun 2, 2022
8bc6b6e
Update src/mavsdk/plugins/telemetry/telemetry_impl.cpp
hamishwillee Jun 2, 2022
731b9d5
Fix up remaining_percent if empty
hamishwillee Jun 2, 2022
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35 changes: 35 additions & 0 deletions src/mavsdk/plugins/telemetry/telemetry_impl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -85,6 +85,11 @@ void TelemetryImpl::init()
[this](const mavlink_message_t& message) { process_battery_status(message); },
this);

_parent->register_mavlink_message_handler(
MAVLINK_MSG_ID_BATTERY_STATUS_V2,
[this](const mavlink_message_t& message) { process_battery_status_v2(message); },
this);

_parent->register_mavlink_message_handler(
MAVLINK_MSG_ID_HEARTBEAT,
[this](const mavlink_message_t& message) { process_heartbeat(message); },
Expand Down Expand Up @@ -1176,6 +1181,36 @@ void TelemetryImpl::process_battery_status(const mavlink_message_t& message)
}
}

void TelemetryImpl::process_battery_status_v2(const mavlink_message_t& message)
{
mavlink_battery_status_v2_t bat_status;
mavlink_msg_battery_status_v2_decode(&message, &bat_status);

_has_bat_status = true;

Telemetry::Battery new_battery;
new_battery.id = bat_status.id;
new_battery.voltage_v = (std::numeric_limits<uint32_t>::max() == bat_status.voltage) ? NAN : bat_status.voltage * 1e-3f;
new_battery.remaining_percent = (std::numeric_limits<uint8_t>::max() == bat_status.percent_remaining) ? NAN : bat_status.percent_remaining;

// To be added
// uint32_t current; /*< [mA] Battery current (through all cells/loads). UINT32_MAX: field not provided.*/
// uint32_t status_flags; /*< Fault, health, and readiness status indications.*/

// Not exposed: temperature, capacity_remaining, capacity_consumed

set_battery(new_battery);
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{
std::lock_guard<std::mutex> lock(_subscription_mutex);
if (_battery_subscription) {
auto callback = _battery_subscription;
auto arg = battery();
_parent->call_user_callback([callback, arg]() { callback(arg); });
}
}
}

void TelemetryImpl::process_heartbeat(const mavlink_message_t& message)
{
if (message.compid != MAV_COMP_ID_AUTOPILOT1) {
Expand Down
1 change: 1 addition & 0 deletions src/mavsdk/plugins/telemetry/telemetry_impl.h
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Expand Up @@ -201,6 +201,7 @@ class TelemetryImpl : public PluginImplBase {
void process_fixedwing_metrics(const mavlink_message_t& message);
void process_sys_status(const mavlink_message_t& message);
void process_battery_status(const mavlink_message_t& message);
void process_battery_status_v2(const mavlink_message_t& message);
void process_heartbeat(const mavlink_message_t& message);
void process_rc_channels(const mavlink_message_t& message);
void process_unix_epoch_time(const mavlink_message_t& message);
Expand Down
4 changes: 3 additions & 1 deletion third_party/mavlink/CMakeLists.txt
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Expand Up @@ -18,7 +18,9 @@ find_package(Python3 COMPONENTS Interpreter REQUIRED)
ExternalProject_add(
mavlink
GIT_REPOSITORY https://github.com/mavlink/mavlink
GIT_TAG 3b52eac09c2e37325e4bc49cd2667ea37bf1d7d2
GIT_TAG daabb9a54d1fc3b8cc6a4f3517168d381d278678
# This GIT_TAG will need to update as it is for a temporary branch containing the new battery
# https://github.com/mavlink/mavlink/commit/daabb9a54d1fc3b8cc6a4f3517168d381d278678
PREFIX mavlink
CONFIGURE_COMMAND Python3::Interpreter
-m pymavlink.tools.mavgen
Expand Down