New BATTERY_STATUS_V2

src/mavsdk/plugins/telemetry/telemetry_impl.cpp

@@ -85,6 +85,11 @@ void TelemetryImpl::init()
         [this](const mavlink_message_t& message) { process_battery_status(message); },
         this);
 
+    _parent->register_mavlink_message_handler(
+        MAVLINK_MSG_ID_BATTERY_STATUS_V2,
+        [this](const mavlink_message_t& message) { process_battery_status_v2(message); },
+        this);
+
     _parent->register_mavlink_message_handler(
         MAVLINK_MSG_ID_HEARTBEAT,
         [this](const mavlink_message_t& message) { process_heartbeat(message); },
@@ -1176,6 +1181,42 @@ void TelemetryImpl::process_battery_status(const mavlink_message_t& message)
     }
 }
 
+void TelemetryImpl::process_battery_status_v2(const mavlink_message_t& message)
+{
+    mavlink_battery_status_v2_t bat_status;
+    mavlink_msg_battery_status_v2_decode(&message, &bat_status);
+
+    _has_bat_status = true;
+
+    Telemetry::Battery new_battery;
+    new_battery.id = bat_status.id;
+    new_battery.voltage_v = bat_status.voltage; 
+    //Is it correct to set this to NaN for UINT32_MAX? HOw do you specify = NaN?
+
+    // FIXME: it is strange calling it percent when the range goes from 0 to 1.
+    // Can we fix this? What about if value not provided?
+    new_battery.remaining_percent = bat_status.percent_remaining; // to test * 1e-2f;
+
+    //bat_status also has:
+    //uint32_t current; /*< [mA] Battery current (through all cells/loads). UINT32_MAX: field not provided.*/
+    // uint32_t current_consumed; /*< [mAh] Consumed charge (since vehicle powered on). UINT32_MAX: field not provided. Note: For power modules the expectation is that batteries are fully charged before turning on the vehicle.*/
+    // uint32_t current_remaining; /*< [mAh] Remaining charge (until empty). UINT32_MAX: field not provided. Note: Power monitors should not set this value.*/
+    // uint32_t status_flags; /*<  Fault, health, and readiness status indications.*/
+    // int16_t temperature; /*< [cdegC] Temperature of the whole battery pack (not internal electronics). INT16_MAX field not provided.*/
+
+
+    set_battery(new_battery);
+
+    {
+        std::lock_guard<std::mutex> lock(_subscription_mutex);
+        if (_battery_subscription) {
+            auto callback = _battery_subscription;
+            auto arg = battery();
+            _parent->call_user_callback([callback, arg]() { callback(arg); });
+        }
+    }
+}
+
 void TelemetryImpl::process_heartbeat(const mavlink_message_t& message)
 {
     if (message.compid != MAV_COMP_ID_AUTOPILOT1) {

src/mavsdk/plugins/telemetry/telemetry_impl.h

@@ -201,6 +201,7 @@ class TelemetryImpl : public PluginImplBase {
     void process_fixedwing_metrics(const mavlink_message_t& message);
     void process_sys_status(const mavlink_message_t& message);
     void process_battery_status(const mavlink_message_t& message);
+    void process_battery_status_v2(const mavlink_message_t& message);
     void process_heartbeat(const mavlink_message_t& message);
     void process_rc_channels(const mavlink_message_t& message);
     void process_unix_epoch_time(const mavlink_message_t& message);

third_party/mavlink/CMakeLists.txt

@@ -18,7 +18,9 @@ find_package(Python3 COMPONENTS Interpreter REQUIRED)
 ExternalProject_add(
     mavlink
     GIT_REPOSITORY https://github.com/mavlink/mavlink
-    GIT_TAG 3b52eac09c2e37325e4bc49cd2667ea37bf1d7d2
+    GIT_TAG a5556816af29e348875cbcc26a1d36b42dc5e921
+    # This GIT_TAG will need to update as it is for a temporary branch containing the new battery
+    # https://github.com/mavlink/mavlink/commit/a5556816af29e348875cbcc26a1d36b42dc5e921
     PREFIX mavlink
     CONFIGURE_COMMAND Python3::Interpreter
         -m pymavlink.tools.mavgen