Question 1: In 1092.BatteryInfo.uavcan
float16 remaining_capacity_wh # [Watt hours] Will be increasing during charging
float16 full_charge_capacity_wh # [Watt hours] Predicted battery capacity when it is fully charged. Falls with aging
As the battery capacity, we choose Ah more instead of Wh. Wh as the unit will have more errors. It is recommended to use Ah here.
Question 2: At 1091.CircuitStatus.uavcan
Line 13 uint8 ERROR_FLAG_UNDERCURRENT = 8
In our industry, there is no concept of UNDERCURRENT. I don’t know if there is a mistake, or an explanation is attached.