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Split battery-related messages into two files #24111

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Split battery-related messages into two files #24111

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24 changes: 24 additions & 0 deletions msg/BatteryInfo.msg
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uint64 timestamp # Time since system start (microseconds)
uint8 id # ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
uint8 cell_count # Number of cells, 0 if unknown

uint8 source # Battery source
uint8 POWER_MODULE = 0 # Source is a power module
uint8 EXTERNAL = 1 # Source is external
uint8 ESCS = 2 # Source is an ESC

uint16 capacity # Actual capacity of the battery
uint16 cycle_count # Number of discharge cycles the battery has experienced
uint16 average_time_to_empty # Predicted remaining battery capacity based on the average rate of discharge (min)
char[32] serial_number # Serial number of the battery pack
uint16 manufacture_date # Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
uint16 state_of_health # State of health. FullChargeCapacity/DesignCapacity, 0-100%
uint16 max_error # Max error, expected margin of error in % in the state-of-charge calculation with a range of 1 to 100%

float32 design_capacity_wh # The original battery capacity
float32 full_charge_capacity_wh # The compensated battery capacity
float32 remaining_capacity_wh # The compensated battery capacity remaining
uint16 over_discharge_count # Number of battery overdischarge
float32 nominal_voltage # Nominal voltage of the battery pack

float32 internal_resistance_estimate # Internal resistance per cell estimate (Ohm)
79 changes: 31 additions & 48 deletions msg/BatteryStatus.msg
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@@ -1,72 +1,55 @@
uint64 timestamp # time since system start (microseconds)
uint64 timestamp # Time since system start (microseconds)
uint8 id # ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
bool connected # Whether or not a battery is connected, based on a voltage threshold
float32 voltage_v # Battery voltage in volts, 0 if unknown
float32 current_a # Battery current in amperes, -1 if unknown
float32 current_average_a # Battery current average in amperes (for FW average in level flight), -1 if unknown
float32 current_average_a # Battery current average in amperes (for FW average in level flight), -1 if unknown ?
float32 discharged_mah # Discharged amount in mAh, -1 if unknown
float32 remaining # From 1 to 0, -1 if unknown
float32 scale # Power scaling factor, >= 1, or -1 if unknown
float32 time_remaining_s # predicted time in seconds remaining until battery is empty under previous averaged load, NAN if unknown
float32 time_remaining_s # Predicted time in seconds remaining until battery is empty under previous averaged load, NAN if unknown
float32 temperature # Temperature of the battery in degrees Celcius, NaN if unknown
uint8 cell_count # Number of cells, 0 if unknown

uint8 BATTERY_SOURCE_POWER_MODULE = 0
uint8 BATTERY_SOURCE_EXTERNAL = 1
uint8 BATTERY_SOURCE_ESCS = 2
uint8 source # Battery source
uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
uint16 capacity # actual capacity of the battery
uint16 cycle_count # number of discharge cycles the battery has experienced
uint16 average_time_to_empty # predicted remaining battery capacity based on the average rate of discharge in min
uint16 serial_number # serial number of the battery pack
uint16 manufacture_date # manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
uint16 state_of_health # state of health. FullChargeCapacity/DesignCapacity, 0-100%.
uint16 max_error # max error, expected margin of error in % in the state-of-charge calculation with a range of 1 to 100%
uint8 id # ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed.
uint16 interface_error # interface error counter
uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 ?

uint16 interface_error # Interface error counter

float32[14] voltage_cell_v # Battery individual cell voltages, 0 if unknown
float32 max_cell_voltage_delta # Max difference between individual cell voltages

bool is_powering_off # Power off event imminent indication, false if unknown
bool is_required # Set if the battery is explicitly required before arming

uint8 MAX_INSTANCES = 4

uint8 BATTERY_WARNING_NONE = 0 # no battery low voltage warning active
uint8 BATTERY_WARNING_LOW = 1 # warning of low voltage
uint8 BATTERY_WARNING_CRITICAL = 2 # critical voltage, return / abort immediately
uint8 BATTERY_WARNING_EMERGENCY = 3 # immediate landing required
uint8 BATTERY_WARNING_FAILED = 4 # the battery has failed completely
uint8 BATTERY_STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field.
uint8 BATTERY_STATE_CHARGING = 7 # Battery is charging

uint8 BATTERY_FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
uint8 BATTERY_FAULT_SPIKES = 1 # Voltage spikes
uint8 BATTERY_FAULT_CELL_FAIL= 2 # One or more cells have failed
uint8 BATTERY_FAULT_OVER_CURRENT = 3 # Over-current
uint8 BATTERY_FAULT_OVER_TEMPERATURE = 4 # Over-temperature
uint8 BATTERY_FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
uint8 BATTERY_FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage).
uint8 BATTERY_FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
uint8 BATTERY_FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
uint8 BATTERY_FAULT_HARDWARE_FAILURE = 9 # hardware problem
uint8 BATTERY_FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
uint8 BATTERY_FAULT_COUNT = 11 # Counter - keep it as last element!

uint16 faults # Smart battery supply status/fault flags (bitmask) for health indication.
uint8 warning # Current battery warning
uint8 WARNING_NONE = 0 # No battery low voltage warning active
uint8 WARNING_LOW = 1 # Warning of low voltage
uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
uint8 WARNING_EMERGENCY = 3 # Immediate landing required
uint8 WARNING_FAILED = 4 # The battery has failed completely
uint8 STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field
uint8 STATE_CHARGING = 7 # Battery is charging


uint16 faults # Smart battery supply status/fault flags (bitmask) for health indication
uint8 DEEP_DISCHARGE = 0 # Battery has deep discharged
uint8 SPIKES = 1 # Voltage spikes
uint8 CELL_FAIL= 2 # One or more cells have failed
uint8 OVER_CURRENT = 3 # Over-current
uint8 OVER_TEMPERATURE = 4 # Over-temperature
uint8 UNDER_TEMPERATURE = 5 # Under-temperature fault
uint8 INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
uint8 INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
uint8 INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
uint8 HARDWARE_FAILURE = 9 # hardware problem
uint8 FAILED_TO_ARM = 10 # Battery had a problem while arming
uint8 COUNT = 11 # Counter - keep it as last element!

uint8 MAX_INSTANCES = 4

float32 full_charge_capacity_wh # The compensated battery capacity
float32 remaining_capacity_wh # The compensated battery capacity remaining
uint16 over_discharge_count # Number of battery overdischarge
float32 nominal_voltage # Nominal voltage of the battery pack

float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
float32 ocv_estimate # [V] Open circuit voltage estimate
float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate
float32 volt_based_soc_estimate # [0, 1] Normalized volt based state of charge estimate
float32 volt_based_soc_estimate # [0, 1] Normalized Volt-based state of charge estimate
float32 voltage_prediction # [V] Predicted voltage
float32 prediction_error # [V] Prediction error
float32 estimation_covariance_norm # Norm of the covariance matrix
1 change: 1 addition & 0 deletions msg/CMakeLists.txt
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Expand Up @@ -53,6 +53,7 @@ set(msg_files
ArmingCheckRequest.msg
AutotuneAttitudeControlStatus.msg
BatteryStatus.msg
BatteryInfo.msg
Buffer128.msg
ButtonEvent.msg
CameraCapture.msg
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