void loop()
{
static uint8_t counter; // counter to slow output to the user
uint32_t now = hal.scheduler->millis();
// call battery monitor at 10hz
if((now - timer) > 100) {
// update voltage and current readings
battery_mon.read();
// reset timer
timer = now;
// increment counter
counter++;
}
// display output at 1hz
if (counter >= 10) {
counter = 0;
hal.console->printf("\nVoltage: %.2f \tCurrent: %.2f \tTotCurr:%.2f",
battery_mon.voltage(),
battery_mon.current_amps(),
battery_mon.current_total_mah());
}
// delay 1ms
hal.scheduler->delay(1);
}
void setup() {
hal.console->println("Battery monitor library test");
// set battery monitor to smbus
battery_mon.set_monitoring(0, AP_BattMonitor::BattMonitor_TYPE_SMBUS);
// initialise the battery monitor
battery_mon.init();
hal.scheduler->delay(1000);
timer = hal.scheduler->millis();
}
void GCS_MAVLINK::send_battery_status(const AP_BattMonitor &battery){
uint16_t voltages[10];
memset(voltages, 0, sizeof(uint16_t)*10);
voltages[0] = battery.voltage()/1000;
mavlink_msg_battery_status_send(chan,
0,
MAV_BATTERY_FUNCTION_ALL,
MAV_BATTERY_TYPE_LIPO,
INT16_MAX,
voltages,
battery.current_amps()*100,
battery.current_total_mah(),
-1,
battery.capacity_remaining_pct());
}
// report battery2 state
void GCS_MAVLINK::send_battery2(const AP_BattMonitor &battery)
{
float voltage;
if (battery.voltage2(voltage)) {
mavlink_msg_battery2_send(chan, voltage*1000, -1);
}
}
// report battery2 state
void GCS_MAVLINK::send_battery2(const AP_BattMonitor &battery)
{
if (battery.num_instances() > 1) {
mavlink_msg_battery2_send(chan, battery.voltage2()*1000, -1);
}
}