AP_BattMonitor_UAVCAN: re-format text based fault reporting and add get_mavlink_fault_bitmask

libraries/AP_BattMonitor/AP_BattMonitor.cpp

@@ -689,6 +689,9 @@ MAV_BATTERY_CHARGE_STATE AP_BattMonitor::get_mavlink_charge_state(const uint8_t
     switch (state[instance].failsafe) {
 
     case Failsafe::None:
+        if (get_mavlink_fault_bitmask(instance) != 0 || !healthy()) {
+            return MAV_BATTERY_CHARGE_STATE_UNHEALTHY;
+        }
         return MAV_BATTERY_CHARGE_STATE_OK;
 
     case Failsafe::Low:
@@ -702,6 +705,15 @@ MAV_BATTERY_CHARGE_STATE AP_BattMonitor::get_mavlink_charge_state(const uint8_t
     return MAV_BATTERY_CHARGE_STATE_UNDEFINED;
 }
 
+// Returns mavlink fault state
+uint32_t AP_BattMonitor::get_mavlink_fault_bitmask(const uint8_t instance) const
+{
+    if (drivers[instance] == nullptr) {
+        return 0;
+    }
+    return drivers[instance]->get_mavlink_fault_bitmask();
+}
+
 namespace AP {
 
 AP_BattMonitor &battery()

libraries/AP_BattMonitor/AP_BattMonitor.h

@@ -241,6 +241,9 @@ public:
     // Returns mavlink charge state
     MAV_BATTERY_CHARGE_STATE get_mavlink_charge_state(const uint8_t instance) const;
 
+    // Returns mavlink fault state
+    uint32_t get_mavlink_fault_bitmask(const uint8_t instance) const;
+
     static const struct AP_Param::GroupInfo var_info[];
 
 protected:

libraries/AP_BattMonitor/AP_BattMonitor_Backend.h

@@ -72,6 +72,9 @@ public:
     // reset remaining percentage to given value
     virtual bool reset_remaining(float percentage);
 
+    // return mavlink fault bitmask (see MAV_BATTERY_FAULT enum)
+    virtual uint32_t get_mavlink_fault_bitmask() const { return 0; }
+
     // logging functions 
     void Log_Write_BAT(const uint8_t instance, const uint64_t time_us) const;
     void Log_Write_BCL(const uint8_t instance, const uint64_t time_us) const;

libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp

@@ -353,37 +353,44 @@ void AP_BattMonitor_UAVCAN::mppt_set_powered_state(bool power_on, bool force)
 }
 
 // report changes in MPPT faults
-void AP_BattMonitor_UAVCAN::mppt_check_and_report_faults(const uint8_t flags)
+void AP_BattMonitor_UAVCAN::mppt_check_and_report_faults(uint8_t fault_flags)
 {
-    if (_mppt.fault_flags == flags) {
-        // only report flags when they change
+    // return immediately if no changes
+    if (_mppt.fault_flags == fault_flags) {
         return;
     }
-    _mppt.fault_flags = flags;
+    _mppt.fault_flags = fault_flags;
 
+    // handle recovery
+    if (_mppt.fault_flags == 0) {
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Battery %u: OK", (unsigned)_instance+1);
+        return;
+    }
+
+    // send battery faults via text messages
     for (uint8_t fault_bit=0x01; fault_bit <= 0x08; fault_bit <<= 1) {
         // this loop is to generate multiple messages if there are multiple concurrent faults, but also run once if there are no faults
-        if ((fault_bit & flags) != 0 || flags == 0) {
-            const MPPT_FaultFlags err = (flags == 0) ? MPPT_FaultFlags::NONE : (MPPT_FaultFlags)fault_bit;
-            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Battery %u: Fault: %s", (unsigned)_instance+1, mppt_fault_string(err));
-        }
-        if (flags == 0) {
-            return;
+        if ((fault_bit & fault_flags) != 0) {
+            const MPPT_FaultFlags err = (MPPT_FaultFlags)fault_bit;
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Battery %u: %s", (unsigned)_instance+1, mppt_fault_string(err));
         }
     }
 }
 
 // returns string description of MPPT fault bit. Only handles single bit faults
-const char* AP_BattMonitor_UAVCAN::mppt_fault_string(const MPPT_FaultFlags fault)
+const char* AP_BattMonitor_UAVCAN::mppt_fault_string(MPPT_FaultFlags fault)
 {
     switch (fault) {
-        case MPPT_FaultFlags::NONE:             return "None";
-        case MPPT_FaultFlags::OVER_VOLTAGE:     return "Over-Voltage";
-        case MPPT_FaultFlags::UNDER_VOLTAGE:    return "Under-Voltage";
-        case MPPT_FaultFlags::OVER_CURRENT:     return "Over-Current";
-        case MPPT_FaultFlags::OVER_TEMPERATURE: return "Over-Temp";
+        case MPPT_FaultFlags::OVER_VOLTAGE:
+            return "over voltage";
+        case MPPT_FaultFlags::UNDER_VOLTAGE:
+            return "under voltage";
+        case MPPT_FaultFlags::OVER_CURRENT:
+            return "over current";
+        case MPPT_FaultFlags::OVER_TEMPERATURE:
+            return "over temp";
     }
-    return "Unknown";
+    return "unknown";
 }
 
 // return mavlink fault bitmask (see MAV_BATTERY_FAULT enum)
@@ -404,6 +411,8 @@ uint32_t AP_BattMonitor_UAVCAN::get_mavlink_fault_bitmask() const
     }
     if (_mppt.fault_flags & (uint8_t)MPPT_FaultFlags::OVER_TEMPERATURE) {
         mav_fault_bitmask |= MAV_BATTERY_FAULT_OVER_TEMPERATURE;
+    }
+    return mav_fault_bitmask;
 }
 
 #endif

libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.h

@@ -19,14 +19,6 @@ public:
         UAVCAN_BATTERY_INFO = 0
     };
 
-    enum class MPPT_FaultFlags : uint8_t {
-        NONE                = 0,
-        OVER_VOLTAGE        = (1U<<0),
-        UNDER_VOLTAGE       = (1U<<1),
-        OVER_CURRENT        = (1U<<2),
-        OVER_TEMPERATURE    = (1U<<3),
-    };
-
     /// Constructor
     AP_BattMonitor_UAVCAN(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, BattMonitor_UAVCAN_Type type, AP_BattMonitor_Params &params);
 
@@ -50,6 +42,9 @@ public:
 
     bool get_cycle_count(uint16_t &cycles) const override;
 
+    // return mavlink fault bitmask (see MAV_BATTERY_FAULT enum)
+    uint32_t get_mavlink_fault_bitmask() const override;
+
     static void subscribe_msgs(AP_UAVCAN* ap_uavcan);
     static AP_BattMonitor_UAVCAN* get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id, uint8_t battery_id);
     static void handle_battery_info_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const BattInfoCb &cb);
@@ -67,13 +62,19 @@ private:
         return (AP::battery().get_serial_number(instance) < 0) || (AP::battery().get_serial_number(instance) == (int32_t)battery_id);
     }
 
-    // MPPT related methods
+    // MPPT related enums and methods
+    enum class MPPT_FaultFlags : uint8_t {
+        OVER_VOLTAGE        = (1U<<0),
+        UNDER_VOLTAGE       = (1U<<1),
+        OVER_CURRENT        = (1U<<2),
+        OVER_TEMPERATURE    = (1U<<3),
+    };
     void handle_mppt_stream(const MpptStreamCb &cb);
     void mppt_set_bootup_powered_state();
     void mppt_set_armed_powered_state();
     void mppt_set_powered_state(bool power_on, bool force);
-    void mppt_check_and_report_faults(const uint8_t flags);
-    static const char* mppt_fault_string(const MPPT_FaultFlags fault);
+    void mppt_check_and_report_faults(uint8_t fault_flags);
+    const char* mppt_fault_string(MPPT_FaultFlags fault);
 
     AP_BattMonitor::BattMonitor_State _interim_state;
     BattMonitor_UAVCAN_Type _type;