Introduced battery_status uORB topic, changed sensors app to publish to it, extended px4io driver to publish to it. Both do only so if the battery voltage is reasonably high, at 3.3V

1 files changed, 68 insertions, 0 deletions

diff --git a/apps/uORB/topics/battery_status.h b/apps/uORB/topics/battery_status.h
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index 000000000..c40d0d4e5
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+++ b/apps/uORB/topics/battery_status.h
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+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file battery_status.h
+ *
+ * Definition of the battery status uORB topic.
+ */
+
+#ifndef BATTERY_STATUS_H_
+#define BATTERY_STATUS_H_
+
+#include "../uORB.h"
+#include <stdint.h>
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Battery voltages and status
+ */
+struct battery_status_s {
+	uint64_t	timestamp;		/**< microseconds since system boot, needed to integrate */
+	float   	voltage_v;		/**< Battery voltage in volts, filtered           	 */
+	float		current_a;		/**< Battery current in amperes, filtered, -1 if unknown */
+	float		discharged_mah;		/**< Discharged amount in mAh, filtered, -1 if unknown	 */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(battery_status);
+
+#endif
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