Add support for parsing CBAT message #24088
Draft
+160
−110
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
sdomoszlai13
changed the title
sdomoszlai13
force-pushed
the
add-cbat-msg-support
branch
from
0540010 to
6efa3fa
Compare
sdomoszlai13
commented
Jan 29, 2025
| #include <px4_platform_common/log.h> | ||
| #include <px4_platform_common/tasks.h> | ||
| #include <px4_platform_common/ | ||
| #include <px4_platform_common/tasks.h>log.h> |
sdomoszlai13
force-pushed
the
add-cbat-msg-support
branch
from
1ad3ed4 to
647dc5a
Compare
sdomoszlai13
commented
Jan 29, 2025
| bool connected # Whether or not a battery is connected, based on a voltage threshold | ||
| float32 voltage_v # Battery voltage in volts, 0 if unknown | ||
| float32 current_a # Battery current in amperes, -1 if unknown | ||
| float32 current_average_a # Battery current average in amperes (for FW average in level flight), -1 if unknown | ||
| float32 current_average_a # Battery current average in amperes (for FW average in level flight), -1 if unknown ? |
sdomoszlai13
commented
Jan 29, 2025
| uint16 max_error # max error, expected margin of error in % in the state-of-charge calculation with a range of 1 to 100% | ||
| 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 | ||
| uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 ? |
sdomoszlai13
commented
Jan 29, 2025
|
|
||
| float32[14] voltage_cell_v # Battery individual cell voltages, 0 if unknown | ||
| 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 MAX_INSTANCES = 4 |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Adding support for parsing CUAV's CBAT message in order to read serial numbers of certain smart batteries (e.g. Tattu).
Solved Problem
When trying to read the serial number of a Tattu smart battery, I found that the battery sends a CBAT message that contains valuable info about it (e.g., the serial number) but isn't parsed currently in PX4. To get the info in the message, the pasing logic is added in this PR.
Fixes #{Github issue ID}
Solution
Changelog Entry
For release notes:
Alternatives
We could also ...
Test coverage
Context
Related links, screenshot before/after, video