diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/common/mavlink_msg_battery_status.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/common/mavlink_msg_battery_status.h | 215 |
1 files changed, 146 insertions, 69 deletions
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_battery_status.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_battery_status.h index c78fb4f31..03e4d569e 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_battery_status.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_battery_status.h @@ -4,6 +4,8 @@ typedef struct __mavlink_battery_status_t { + int32_t current_consumed; ///< Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate + int32_t energy_consumed; ///< Consumed energy, in 100*Joules (intergrated U*I*dt) (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate uint16_t voltage_cell_1; ///< Battery voltage of cell 1, in millivolts (1 = 1 millivolt) uint16_t voltage_cell_2; ///< Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell uint16_t voltage_cell_3; ///< Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell @@ -15,23 +17,28 @@ typedef struct __mavlink_battery_status_t int8_t battery_remaining; ///< Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery } mavlink_battery_status_t; -#define MAVLINK_MSG_ID_BATTERY_STATUS_LEN 16 -#define MAVLINK_MSG_ID_147_LEN 16 +#define MAVLINK_MSG_ID_BATTERY_STATUS_LEN 24 +#define MAVLINK_MSG_ID_147_LEN 24 + +#define MAVLINK_MSG_ID_BATTERY_STATUS_CRC 177 +#define MAVLINK_MSG_ID_147_CRC 177 #define MAVLINK_MESSAGE_INFO_BATTERY_STATUS { \ "BATTERY_STATUS", \ - 9, \ - { { "voltage_cell_1", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_battery_status_t, voltage_cell_1) }, \ - { "voltage_cell_2", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_battery_status_t, voltage_cell_2) }, \ - { "voltage_cell_3", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_battery_status_t, voltage_cell_3) }, \ - { "voltage_cell_4", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_battery_status_t, voltage_cell_4) }, \ - { "voltage_cell_5", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_battery_status_t, voltage_cell_5) }, \ - { "voltage_cell_6", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_battery_status_t, voltage_cell_6) }, \ - { "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_battery_status_t, current_battery) }, \ - { "accu_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_battery_status_t, accu_id) }, \ - { "battery_remaining", NULL, MAVLINK_TYPE_INT8_T, 0, 15, offsetof(mavlink_battery_status_t, battery_remaining) }, \ + 11, \ + { { "current_consumed", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_battery_status_t, current_consumed) }, \ + { "energy_consumed", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_battery_status_t, energy_consumed) }, \ + { "voltage_cell_1", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_battery_status_t, voltage_cell_1) }, \ + { "voltage_cell_2", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_battery_status_t, voltage_cell_2) }, \ + { "voltage_cell_3", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_battery_status_t, voltage_cell_3) }, \ + { "voltage_cell_4", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_battery_status_t, voltage_cell_4) }, \ + { "voltage_cell_5", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_battery_status_t, voltage_cell_5) }, \ + { "voltage_cell_6", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_battery_status_t, voltage_cell_6) }, \ + { "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_battery_status_t, current_battery) }, \ + { "accu_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 22, offsetof(mavlink_battery_status_t, accu_id) }, \ + { "battery_remaining", NULL, MAVLINK_TYPE_INT8_T, 0, 23, offsetof(mavlink_battery_status_t, battery_remaining) }, \ } \ } @@ -50,27 +57,33 @@ typedef struct __mavlink_battery_status_t * @param voltage_cell_5 Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell * @param voltage_cell_6 Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current + * @param current_consumed Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate + * @param energy_consumed Consumed energy, in 100*Joules (intergrated U*I*dt) (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_battery_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - uint8_t accu_id, uint16_t voltage_cell_1, uint16_t voltage_cell_2, uint16_t voltage_cell_3, uint16_t voltage_cell_4, uint16_t voltage_cell_5, uint16_t voltage_cell_6, int16_t current_battery, int8_t battery_remaining) + uint8_t accu_id, uint16_t voltage_cell_1, uint16_t voltage_cell_2, uint16_t voltage_cell_3, uint16_t voltage_cell_4, uint16_t voltage_cell_5, uint16_t voltage_cell_6, int16_t current_battery, int32_t current_consumed, int32_t energy_consumed, int8_t battery_remaining) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[16]; - _mav_put_uint16_t(buf, 0, voltage_cell_1); - _mav_put_uint16_t(buf, 2, voltage_cell_2); - _mav_put_uint16_t(buf, 4, voltage_cell_3); - _mav_put_uint16_t(buf, 6, voltage_cell_4); - _mav_put_uint16_t(buf, 8, voltage_cell_5); - _mav_put_uint16_t(buf, 10, voltage_cell_6); - _mav_put_int16_t(buf, 12, current_battery); - _mav_put_uint8_t(buf, 14, accu_id); - _mav_put_int8_t(buf, 15, battery_remaining); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 16); + char buf[MAVLINK_MSG_ID_BATTERY_STATUS_LEN]; + _mav_put_int32_t(buf, 0, current_consumed); + _mav_put_int32_t(buf, 4, energy_consumed); + _mav_put_uint16_t(buf, 8, voltage_cell_1); + _mav_put_uint16_t(buf, 10, voltage_cell_2); + _mav_put_uint16_t(buf, 12, voltage_cell_3); + _mav_put_uint16_t(buf, 14, voltage_cell_4); + _mav_put_uint16_t(buf, 16, voltage_cell_5); + _mav_put_uint16_t(buf, 18, voltage_cell_6); + _mav_put_int16_t(buf, 20, current_battery); + _mav_put_uint8_t(buf, 22, accu_id); + _mav_put_int8_t(buf, 23, battery_remaining); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_BATTERY_STATUS_LEN); #else mavlink_battery_status_t packet; + packet.current_consumed = current_consumed; + packet.energy_consumed = energy_consumed; packet.voltage_cell_1 = voltage_cell_1; packet.voltage_cell_2 = voltage_cell_2; packet.voltage_cell_3 = voltage_cell_3; @@ -81,18 +94,22 @@ static inline uint16_t mavlink_msg_battery_status_pack(uint8_t system_id, uint8_ packet.accu_id = accu_id; packet.battery_remaining = battery_remaining; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 16); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_BATTERY_STATUS_LEN); #endif msg->msgid = MAVLINK_MSG_ID_BATTERY_STATUS; - return mavlink_finalize_message(msg, system_id, component_id, 16, 42); +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_BATTERY_STATUS_LEN); +#endif } /** * @brief Pack a battery_status message on a channel * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over + * @param chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into * @param accu_id Accupack ID * @param voltage_cell_1 Battery voltage of cell 1, in millivolts (1 = 1 millivolt) @@ -102,28 +119,34 @@ static inline uint16_t mavlink_msg_battery_status_pack(uint8_t system_id, uint8_ * @param voltage_cell_5 Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell * @param voltage_cell_6 Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current + * @param current_consumed Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate + * @param energy_consumed Consumed energy, in 100*Joules (intergrated U*I*dt) (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_battery_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, - uint8_t accu_id,uint16_t voltage_cell_1,uint16_t voltage_cell_2,uint16_t voltage_cell_3,uint16_t voltage_cell_4,uint16_t voltage_cell_5,uint16_t voltage_cell_6,int16_t current_battery,int8_t battery_remaining) + uint8_t accu_id,uint16_t voltage_cell_1,uint16_t voltage_cell_2,uint16_t voltage_cell_3,uint16_t voltage_cell_4,uint16_t voltage_cell_5,uint16_t voltage_cell_6,int16_t current_battery,int32_t current_consumed,int32_t energy_consumed,int8_t battery_remaining) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[16]; - _mav_put_uint16_t(buf, 0, voltage_cell_1); - _mav_put_uint16_t(buf, 2, voltage_cell_2); - _mav_put_uint16_t(buf, 4, voltage_cell_3); - _mav_put_uint16_t(buf, 6, voltage_cell_4); - _mav_put_uint16_t(buf, 8, voltage_cell_5); - _mav_put_uint16_t(buf, 10, voltage_cell_6); - _mav_put_int16_t(buf, 12, current_battery); - _mav_put_uint8_t(buf, 14, accu_id); - _mav_put_int8_t(buf, 15, battery_remaining); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 16); + char buf[MAVLINK_MSG_ID_BATTERY_STATUS_LEN]; + _mav_put_int32_t(buf, 0, current_consumed); + _mav_put_int32_t(buf, 4, energy_consumed); + _mav_put_uint16_t(buf, 8, voltage_cell_1); + _mav_put_uint16_t(buf, 10, voltage_cell_2); + _mav_put_uint16_t(buf, 12, voltage_cell_3); + _mav_put_uint16_t(buf, 14, voltage_cell_4); + _mav_put_uint16_t(buf, 16, voltage_cell_5); + _mav_put_uint16_t(buf, 18, voltage_cell_6); + _mav_put_int16_t(buf, 20, current_battery); + _mav_put_uint8_t(buf, 22, accu_id); + _mav_put_int8_t(buf, 23, battery_remaining); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_BATTERY_STATUS_LEN); #else mavlink_battery_status_t packet; + packet.current_consumed = current_consumed; + packet.energy_consumed = energy_consumed; packet.voltage_cell_1 = voltage_cell_1; packet.voltage_cell_2 = voltage_cell_2; packet.voltage_cell_3 = voltage_cell_3; @@ -134,15 +157,19 @@ static inline uint16_t mavlink_msg_battery_status_pack_chan(uint8_t system_id, u packet.accu_id = accu_id; packet.battery_remaining = battery_remaining; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 16); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_BATTERY_STATUS_LEN); #endif msg->msgid = MAVLINK_MSG_ID_BATTERY_STATUS; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 16, 42); +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_BATTERY_STATUS_LEN); +#endif } /** - * @brief Encode a battery_status struct into a message + * @brief Encode a battery_status struct * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) @@ -151,7 +178,21 @@ static inline uint16_t mavlink_msg_battery_status_pack_chan(uint8_t system_id, u */ static inline uint16_t mavlink_msg_battery_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_battery_status_t* battery_status) { - return mavlink_msg_battery_status_pack(system_id, component_id, msg, battery_status->accu_id, battery_status->voltage_cell_1, battery_status->voltage_cell_2, battery_status->voltage_cell_3, battery_status->voltage_cell_4, battery_status->voltage_cell_5, battery_status->voltage_cell_6, battery_status->current_battery, battery_status->battery_remaining); + return mavlink_msg_battery_status_pack(system_id, component_id, msg, battery_status->accu_id, battery_status->voltage_cell_1, battery_status->voltage_cell_2, battery_status->voltage_cell_3, battery_status->voltage_cell_4, battery_status->voltage_cell_5, battery_status->voltage_cell_6, battery_status->current_battery, battery_status->current_consumed, battery_status->energy_consumed, battery_status->battery_remaining); +} + +/** + * @brief Encode a battery_status struct on a channel + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param battery_status C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_battery_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_battery_status_t* battery_status) +{ + return mavlink_msg_battery_status_pack_chan(system_id, component_id, chan, msg, battery_status->accu_id, battery_status->voltage_cell_1, battery_status->voltage_cell_2, battery_status->voltage_cell_3, battery_status->voltage_cell_4, battery_status->voltage_cell_5, battery_status->voltage_cell_6, battery_status->current_battery, battery_status->current_consumed, battery_status->energy_consumed, battery_status->battery_remaining); } /** @@ -166,27 +207,37 @@ static inline uint16_t mavlink_msg_battery_status_encode(uint8_t system_id, uint * @param voltage_cell_5 Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell * @param voltage_cell_6 Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current + * @param current_consumed Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate + * @param energy_consumed Consumed energy, in 100*Joules (intergrated U*I*dt) (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_battery_status_send(mavlink_channel_t chan, uint8_t accu_id, uint16_t voltage_cell_1, uint16_t voltage_cell_2, uint16_t voltage_cell_3, uint16_t voltage_cell_4, uint16_t voltage_cell_5, uint16_t voltage_cell_6, int16_t current_battery, int8_t battery_remaining) +static inline void mavlink_msg_battery_status_send(mavlink_channel_t chan, uint8_t accu_id, uint16_t voltage_cell_1, uint16_t voltage_cell_2, uint16_t voltage_cell_3, uint16_t voltage_cell_4, uint16_t voltage_cell_5, uint16_t voltage_cell_6, int16_t current_battery, int32_t current_consumed, int32_t energy_consumed, int8_t battery_remaining) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[16]; - _mav_put_uint16_t(buf, 0, voltage_cell_1); - _mav_put_uint16_t(buf, 2, voltage_cell_2); - _mav_put_uint16_t(buf, 4, voltage_cell_3); - _mav_put_uint16_t(buf, 6, voltage_cell_4); - _mav_put_uint16_t(buf, 8, voltage_cell_5); - _mav_put_uint16_t(buf, 10, voltage_cell_6); - _mav_put_int16_t(buf, 12, current_battery); - _mav_put_uint8_t(buf, 14, accu_id); - _mav_put_int8_t(buf, 15, battery_remaining); - - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, buf, 16, 42); + char buf[MAVLINK_MSG_ID_BATTERY_STATUS_LEN]; + _mav_put_int32_t(buf, 0, current_consumed); + _mav_put_int32_t(buf, 4, energy_consumed); + _mav_put_uint16_t(buf, 8, voltage_cell_1); + _mav_put_uint16_t(buf, 10, voltage_cell_2); + _mav_put_uint16_t(buf, 12, voltage_cell_3); + _mav_put_uint16_t(buf, 14, voltage_cell_4); + _mav_put_uint16_t(buf, 16, voltage_cell_5); + _mav_put_uint16_t(buf, 18, voltage_cell_6); + _mav_put_int16_t(buf, 20, current_battery); + _mav_put_uint8_t(buf, 22, accu_id); + _mav_put_int8_t(buf, 23, battery_remaining); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, buf, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, buf, MAVLINK_MSG_ID_BATTERY_STATUS_LEN); +#endif #else mavlink_battery_status_t packet; + packet.current_consumed = current_consumed; + packet.energy_consumed = energy_consumed; packet.voltage_cell_1 = voltage_cell_1; packet.voltage_cell_2 = voltage_cell_2; packet.voltage_cell_3 = voltage_cell_3; @@ -197,7 +248,11 @@ static inline void mavlink_msg_battery_status_send(mavlink_channel_t chan, uint8 packet.accu_id = accu_id; packet.battery_remaining = battery_remaining; - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, (const char *)&packet, 16, 42); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, (const char *)&packet, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, (const char *)&packet, MAVLINK_MSG_ID_BATTERY_STATUS_LEN); +#endif #endif } @@ -213,7 +268,7 @@ static inline void mavlink_msg_battery_status_send(mavlink_channel_t chan, uint8 */ static inline uint8_t mavlink_msg_battery_status_get_accu_id(const mavlink_message_t* msg) { - return _MAV_RETURN_uint8_t(msg, 14); + return _MAV_RETURN_uint8_t(msg, 22); } /** @@ -223,7 +278,7 @@ static inline uint8_t mavlink_msg_battery_status_get_accu_id(const mavlink_messa */ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_1(const mavlink_message_t* msg) { - return _MAV_RETURN_uint16_t(msg, 0); + return _MAV_RETURN_uint16_t(msg, 8); } /** @@ -233,7 +288,7 @@ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_1(const mavli */ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_2(const mavlink_message_t* msg) { - return _MAV_RETURN_uint16_t(msg, 2); + return _MAV_RETURN_uint16_t(msg, 10); } /** @@ -243,7 +298,7 @@ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_2(const mavli */ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_3(const mavlink_message_t* msg) { - return _MAV_RETURN_uint16_t(msg, 4); + return _MAV_RETURN_uint16_t(msg, 12); } /** @@ -253,7 +308,7 @@ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_3(const mavli */ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_4(const mavlink_message_t* msg) { - return _MAV_RETURN_uint16_t(msg, 6); + return _MAV_RETURN_uint16_t(msg, 14); } /** @@ -263,7 +318,7 @@ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_4(const mavli */ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_5(const mavlink_message_t* msg) { - return _MAV_RETURN_uint16_t(msg, 8); + return _MAV_RETURN_uint16_t(msg, 16); } /** @@ -273,7 +328,7 @@ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_5(const mavli */ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_6(const mavlink_message_t* msg) { - return _MAV_RETURN_uint16_t(msg, 10); + return _MAV_RETURN_uint16_t(msg, 18); } /** @@ -283,7 +338,27 @@ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_6(const mavli */ static inline int16_t mavlink_msg_battery_status_get_current_battery(const mavlink_message_t* msg) { - return _MAV_RETURN_int16_t(msg, 12); + return _MAV_RETURN_int16_t(msg, 20); +} + +/** + * @brief Get field current_consumed from battery_status message + * + * @return Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate + */ +static inline int32_t mavlink_msg_battery_status_get_current_consumed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 0); +} + +/** + * @brief Get field energy_consumed from battery_status message + * + * @return Consumed energy, in 100*Joules (intergrated U*I*dt) (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate + */ +static inline int32_t mavlink_msg_battery_status_get_energy_consumed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 4); } /** @@ -293,7 +368,7 @@ static inline int16_t mavlink_msg_battery_status_get_current_battery(const mavli */ static inline int8_t mavlink_msg_battery_status_get_battery_remaining(const mavlink_message_t* msg) { - return _MAV_RETURN_int8_t(msg, 15); + return _MAV_RETURN_int8_t(msg, 23); } /** @@ -305,6 +380,8 @@ static inline int8_t mavlink_msg_battery_status_get_battery_remaining(const mavl static inline void mavlink_msg_battery_status_decode(const mavlink_message_t* msg, mavlink_battery_status_t* battery_status) { #if MAVLINK_NEED_BYTE_SWAP + battery_status->current_consumed = mavlink_msg_battery_status_get_current_consumed(msg); + battery_status->energy_consumed = mavlink_msg_battery_status_get_energy_consumed(msg); battery_status->voltage_cell_1 = mavlink_msg_battery_status_get_voltage_cell_1(msg); battery_status->voltage_cell_2 = mavlink_msg_battery_status_get_voltage_cell_2(msg); battery_status->voltage_cell_3 = mavlink_msg_battery_status_get_voltage_cell_3(msg); @@ -315,6 +392,6 @@ static inline void mavlink_msg_battery_status_decode(const mavlink_message_t* ms battery_status->accu_id = mavlink_msg_battery_status_get_accu_id(msg); battery_status->battery_remaining = mavlink_msg_battery_status_get_battery_remaining(msg); #else - memcpy(battery_status, _MAV_PAYLOAD(msg), 16); + memcpy(battery_status, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_BATTERY_STATUS_LEN); #endif } |