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Battery message - extend with status, current, and fix percentage #290

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Battery message - extend with status, current, and fix percentage #290

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64c4a9b
Battery message - extend with status, current, and fix percentage
hamishwillee Jun 2, 2022
c138772
Change flag to indicate not ready to fly
hamishwillee Jun 3, 2022
834099d
Add all the fault/status flags
hamishwillee Jun 12, 2022
79e6aeb
Update protos/telemetry/telemetry.proto
hamishwillee Jun 16, 2022
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28 changes: 27 additions & 1 deletion protos/telemetry/telemetry.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -564,11 +564,37 @@ enum FixType {
FIX_TYPE_RTK_FIXED = 6; // RTK Fixed, 3D position
}


enum BatteryStatusFlags {
BATTERY_STATUS_FLAGS_NOT_READY_TO_USE = 1; // The battery is is not ready to use (fly).
BATTERY_STATUS_FLAGS_CHARGING = 2; // Battery is charging.
BATTERY_STATUS_FLAGS_CELL_BALANCING = 4; // Battery is cell balancing (during charging).
BATTERY_STATUS_FLAGS_FAULT_CELL_IMBALANCE = 8; // Battery cells are not balanced.
BATTERY_STATUS_FLAGS_AUTO_DISCHARGING = 16; // Battery is auto discharging (towards storage level).
BATTERY_STATUS_FLAGS_REQUIRES_SERVICE = 32; // Battery requires service (not safe to fly).
BATTERY_STATUS_FLAGS_BAD_BATTERY = 64; // Battery is faulty and cannot be repaired (not safe to fly).
BATTERY_STATUS_FLAGS_PROTECTIONS_ENABLED = 128; // Automatic battery protection monitoring is enabled.
BATTERY_STATUS_FLAGS_FAULT_PROTECTION_SYSTEM = 256; // The battery fault protection system had detected a fault and cut all power from the battery.
BATTERY_STATUS_FLAGS_FAULT_OVER_VOLT = 512; // One or more cells are above their maximum voltage rating.
BATTERY_STATUS_FLAGS_FAULT_UNDER_VOLT = 1024; // One or more cells are below their minimum voltage rating.
BATTERY_STATUS_FLAGS_FAULT_OVER_TEMPERATURE = 2048; // Over-temperature fault.
BATTERY_STATUS_FLAGS_FAULT_UNDER_TEMPERATURE = 4096; // Under-temperature fault.
BATTERY_STATUS_FLAGS_FAULT_OVER_CURRENT = 8192; // Over-current fault.
BATTERY_STATUS_FLAGS_FAULT_SHORT_CIRCUIT = 16384; // Short circuit event detected.
BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_VOLTAGE = 32768; // Voltage not compatible with power rail voltage (batteries on same power rail should have similar voltage).
BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_FIRMWARE = 65536; // Battery firmware is not compatible with current autopilot firmware.
BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_CELLS_CONFIGURATION = 131072; // Battery is not compatible due to cell configuration.
BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL = 262144; // Battery capacity values are relative to a known-full battery (smart battery) and not estimated.
BATTERY_STATUS_FLAGS_EXTENDED = 4294967295; // Reserved for future use.
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This ID number is too high for protobuf (hence the prototool failure in the CI) 😁

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We generally don't support enums used as bitflags in MAVSDK, right @JonasVautherin?

So what we can do is add boolean values for it and then convert between the flags and bools.
I think this makes using the API easier for other languages, where it's not as common to do bitwise checks.

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Well as long as the number is in bounds, it's fine. Usually we just increment from 0, but well... I don't really mind if we want to use weird ids 😅.

However the protobuf field number is only a protobuf thing, it's completely independent from MAVLink. So using powers of two has no meaning here 👍

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So that's the thing, we don't support it because the numbers are removed in the C++ API.

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Sorry I did not get that. In the C++ implementation, the code will have to translate this enum into the mavlink message. But using powers of 2 here doesn't do anything, so it would probably be cleaner to just increment from 0.

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No, the enum is fine. As a MAVSDK user, I'd rather deal with BATTERY_STATUS_FLAGS_EXTENDED than 4294967295. I don't care how the enum is encoded on the wire, be it with a bitmask, with booleans, little-endian or not, UTF8 or not, etc.

@JonasVautherin I don't think this would work. The problem is that the MAVLink spec is not really an enum but it's bitflags.

So in our conversion the enum becomes a normal enum incremented with 1 (instead of doubled for bits), so you can only ever set one flag at a time. In the MAVLink world you can set multiple bits.

Therefore, I'm suggesting to use boolean flags for each flag, and then encode it to bits internally.

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@JonasVautherin JonasVautherin Jun 9, 2022 •
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Ooooooh, I get it now 👍. Yeah then a boolean makes total sense 💯. Actually that's what a flag represents, it's just that under the hood mavlink represents it as a bitset. But those are booleans indeed 👍

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So is the format I suggested right?

bool status_not_ready_to_use= 5  [(mavsdk.options.default_value)="0"]; // Battery status: not ready to use
bool status_charging= 6  [(mavsdk.options.default_value)="0"]; // Battery status: charging
...

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I would try with [(mavsdk.options.default_value)="false"], I think that should work 😇

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Yes, that looks right.

}

// Battery type.
message Battery {
uint32 id = 3 [(mavsdk.options.default_value)="0"]; // Battery ID, for systems with multiple batteries
float voltage_v = 1 [(mavsdk.options.default_value)="NaN"]; // Voltage in volts
float remaining_percent = 2 [(mavsdk.options.default_value)="NaN"]; // Estimated battery remaining (range: 0.0 to 1.0)
float remaining_percent = 2 [(mavsdk.options.default_value)="NaN"]; // Estimated battery remaining (range: 0 to 100)
float current_ma = 4 [(mavsdk.options.default_value)="NaN"]; // Current in mA
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Could also be A instead of mA but then we are quite different from the MAVLink message.

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I can change if you want. Just let me know.

BatteryStatusFlags status = 5; // Battery status flags
}

/*
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