Mavlink message for battery status

dydavide · February 26, 2019, 12:56pm

Hi guys,
I need to interface my ardupilot to an external board for a project at the university.
I’m able to read all mavlink messages but it’s seems that the ardupilot code doesn’t send any Mavlink message #147 (Battery_Status). Somehow it should be sent, since I’m able to see the battery voltage in the mission planner or in the qGroundControl.

Looking into the code GCS_Mavlink.cpp and GCS_Mavlink.h didn’t help me

Do you know where is the battery voltage information stored?

Thanks

iampete · February 26, 2019, 1:11pm

github.com

ArduPilot/ardupilot/blob/2c814e9de2a1f384f1c913365caee4889877c82c/libraries/GCS_MAVLink/GCS_Common.cpp#L211


if (!vehicle_initialised()) {
    // avoid unnecessary errors being reported to user
    return;
}
mavlink_msg_power_status_send(chan,
                              hal.analogin->board_voltage() * 1000,
                              hal.analogin->servorail_voltage() * 1000,
                              hal.analogin->power_status_flags());
}


void GCS_MAVLINK::send_battery_status(const AP_BattMonitor &battery,
                                  const uint8_t instance) const
{
// catch the battery backend not supporting the required number of cells
static_assert(sizeof(AP_BattMonitor::cells) >= (sizeof(uint16_t) * MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN),
              "Not enough battery cells for the MAVLink message");


float temp;
bool got_temperature = battery.get_temperature(temp, instance);


// ensure we always send a voltage estimate to the GCS, because not all battery monitors monitor individual cells

I would guess its actually sending this message so you can see the voltage ect in MP

github.com

ArduPilot/ardupilot/blob/2c814e9de2a1f384f1c913365caee4889877c82c/libraries/GCS_MAVLink/GCS_Common.cpp#L3818




void GCS_MAVLINK::send_hwstatus()
{
mavlink_msg_hwstatus_send(
    chan,
    hal.analogin->board_voltage()*1000,
    0);
}




void GCS_MAVLINK::send_sys_status()
{
// send extended status only once vehicle has been initialised
// to avoid unnecessary errors being reported to user
if (!vehicle_initialised()) {
    return;
}


int16_t battery_current = -1;
int8_t battery_remaining = -1;