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33 lines
890 B
33 lines
890 B
#pragma once |
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#include <AP_UAVCAN/AP_UAVCAN.h> |
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#include "AP_BattMonitor.h" |
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#include "AP_BattMonitor_Backend.h" |
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#define AP_BATTMONITOR_UAVCAN_TIMEOUT_MICROS 5000000 // sensor becomes unhealthy if no successful readings for 5 seconds |
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class AP_BattMonitor_UAVCAN : public AP_BattMonitor_Backend |
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{ |
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public: |
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enum BattMonitor_UAVCAN_Type { |
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UAVCAN_BATTERY_INFO = 0 |
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}; |
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/// Constructor |
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AP_BattMonitor_UAVCAN(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, BattMonitor_UAVCAN_Type type, AP_BattMonitor_Params ¶ms); |
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/// Read the battery voltage and current. Should be called at 10hz |
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void read() override; |
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void init() override; |
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bool has_current() const override { |
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return true; |
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} |
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void handle_bi_msg(float voltage, float current, float temperature) override; |
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protected: |
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BattMonitor_UAVCAN_Type _type; |
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};
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