battgo history and info mavlink separated (didnt test)

libraries/AP_BattMonitor/AP_BattMonitor_Serial_BattGo.cpp

@@ -37,6 +37,7 @@ void AP_BattMonitor_Serial_BattGo::init(void)
     {
         requestBattData(BATTGO_CMD_REQUEST_ACTUAL_DATA);
         requestBattData(BATTGO_CMD_REQUEST_PARAM);
+        requestBattData(BATTGO_CMD_REQUEST_HISTORY);
     }
 }
 
@@ -300,6 +301,7 @@ void AP_BattMonitor_Serial_BattGo::setPayLoadData(uint8_t &usart_data)
 
 // }
  mavlink_battgo_info_t battgo_info_t;
+ mavlink_battgo_history_t  battgo_history_t ;
 bool AP_BattMonitor_Serial_BattGo::parseBattGo()
 {
     
@@ -404,18 +406,23 @@ bool AP_BattMonitor_Serial_BattGo::parseBattGo()
         battgo_info_t.vol_stored_set = (data_buf[112] << 8) |data_buf[111];
         battgo_info_t.vol_stored_full_set = (data_buf[114] << 8) |data_buf[113];
         battgo_info_t.self_discharge_times = (data_buf[115] << 8);
-        
+        gcs().update_serial_battgo_info(&battgo_info_t);
-        requestBattData(BATTGO_CMD_REQUEST_HISTORY);
+        //requestBattData(BATTGO_CMD_REQUEST_HISTORY);
         return true;
     }
     else if (data_buf[0] == 0x45) //
     {
-         battgo_info_t.last_charge_cap = (data_buf[7] << 24) | (data_buf[6] << 16) | (data_buf[5] << 8) |data_buf[4];
+        battgo_history_t.last_charge_cap = (data_buf[7] << 24) | (data_buf[6] << 16) | (data_buf[5] << 8) |data_buf[4];
+
+         for(int i=0;i<6;i++){
+             battgo_history_t.battery_core_vol[i]  =  (data_buf[8+2*i+1]<<8)|data_buf[8+2*i];
+          }
+
          for(int i=0;i<6;i++){
-             battgo_info_t.Internal_resistance[i]  =  (data_buf[20+2*i+1]<<8)|data_buf[20+2*i];
+             battgo_history_t.Internal_resistance[i]  =  (data_buf[20+2*i+1]<<8)|data_buf[20+2*i];
-         }
+          }
-         battgo_info_t.charge_state = data_buf[32];
+        battgo_history_t.charge_state = data_buf[32];
-        gcs().update_serial_battgo(&battgo_info_t);
+         gcs().update_serial_battgo_history(&battgo_history_t);
         return true;
     }
     return false;
@@ -447,5 +454,5 @@ void AP_BattMonitor_Serial_BattGo::read()
 
 void AP_BattMonitor_Serial_BattGo::notice_to_send_battgo_param()
 {
-    gcs().send_message(MSG_BATTGAO_PARAM);
+    gcs().send_message(MSG_BATTGAO_INFO);
 }

libraries/AP_BattMonitor/AP_BattMonitor_Serial_BattGo.h

@@ -32,10 +32,7 @@ public:
   /// Read the battery voltage and current.  Should be called at 10hz
   void read() override;
 
-  bool has_cell_voltages() const
+ bool has_cell_voltages() const override { return true; }
-  {
-    return true;
-  }
 
   // static detection function
   static bool detect(uint8_t serial_instance);

libraries/GCS_MAVLink/GCS.h

@@ -217,7 +217,8 @@ public:
     void send_sys_status();
     void send_set_position_target_global_int(uint8_t target_system, uint8_t target_component, const Location& loc);
     void send_rpm() const;
-    bool send_battgo_param(const mavlink_battgo_info_t *mavlink_battgo_info_t);
+    bool send_battgo_info(const mavlink_battgo_info_t *mavlink_battgo_info_t);
+    bool send_battgo_history(const mavlink_battgo_history_t *mavlink_battgo_info_t);
     //void send_serial_battgo(mavlink_battgo_info_t &battgo_info_t );
     bool locked() const;
 
@@ -832,8 +833,8 @@ public:
     void update_send();
     void update_receive();
 
-   void   update_serial_battgo(mavlink_battgo_info_t *battgo_info_t );
+   void   update_serial_battgo_info(mavlink_battgo_info_t *battgo_info_t );
-
+   void   update_serial_battgo_history(mavlink_battgo_history_t *battgo_history_t );
     // minimum amount of time (in microseconds) that must remain in
     // the main scheduler loop before we are allowed to send any
     // mavlink messages.  We want to prioritise the main flight

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -253,9 +253,16 @@ bool GCS_MAVLINK::send_battery_status() const
     }
     return true;
 }
-bool GCS_MAVLINK::send_battgo_param(const mavlink_battgo_info_t *battgo_info_t){
+bool GCS_MAVLINK::send_battgo_info(const mavlink_battgo_info_t *battgo_info_t)
-             mavlink_msg_battgo_info_send_struct(chan,battgo_info_t);
+{
-             return true;
+    mavlink_msg_battgo_info_send_struct(chan, battgo_info_t);
+    return true;
+}
+
+bool GCS_MAVLINK::send_battgo_history(const mavlink_battgo_history_t *battgo_history_t)
+{
+    mavlink_msg_battgo_history_send_struct(chan, battgo_history_t);
+    return true;
 }
 void GCS_MAVLINK::send_distance_sensor(const AP_RangeFinder_Backend *sensor, const uint8_t instance) const
 {
@@ -1900,15 +1907,21 @@ void GCS::update_receive(void)
     update_passthru();
 }
 
-void GCS::update_serial_battgo(mavlink_battgo_info_t *battgo_info_t )
+void GCS::update_serial_battgo_info(mavlink_battgo_info_t *battgo_info_t )
 {
     for (uint8_t i=0; i<num_gcs(); i++) {
     //  mavlink_msg_battgo_info_send_struct(chan,&battgo_info_t);
-    chan(i)->send_battgo_param(battgo_info_t);
+    chan(i)->send_battgo_info(battgo_info_t);
-    }
+    }          
-           
 }
 
+void GCS::update_serial_battgo_history(mavlink_battgo_history_t *battgo_history_t )
+{
+    for (uint8_t i=0; i<num_gcs(); i++) {
+    //  mavlink_msg_battgo_info_send_struct(chan,&battgo_info_t);
+    chan(i)->send_battgo_history(battgo_history_t);
+    }          
+}
 void GCS::send_mission_item_reached_message(uint16_t mission_index)
 {
     for (uint8_t i=0; i<num_gcs(); i++) {

libraries/GCS_MAVLink/ap_message.h

@@ -73,6 +73,6 @@ enum ap_message : uint8_t {
     MSG_NAMED_FLOAT,
     MSG_EXTENDED_SYS_STATE,
     MSG_AUTOPILOT_VERSION,
-    MSG_BATTGAO_PARAM,
+    MSG_BATTGAO_INFO,
     MSG_LAST // MSG_LAST must be the last entry in this enum
 };