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fix(mavlink): preserve invalid battery values on receive (#27467)

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Eurus
2026-05-27 10:50:55 +08:00
committed by GitHub
parent b6ca5d8c77
commit b52464059e
1 changed files with 15 additions and 10 deletions
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25
src/modules/mavlink/mavlink_receiver.cpp
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@@ -1952,23 +1952,28 @@ MavlinkReceiver::handle_message_battery_status(mavlink_message_t *msg)
}
battery_status.voltage_v = voltage_sum;
battery_status.current_a = (float)(battery_mavlink.current_battery) / 100.0f;
battery_status.remaining = (float)battery_mavlink.battery_remaining / 100.0f;
battery_status.current_a = (battery_mavlink.current_battery == -1) ?
-1.0f : (float)(battery_mavlink.current_battery) / 100.0f;
battery_status.remaining = (battery_mavlink.battery_remaining == -1) ?
-1.0f : (float)battery_mavlink.battery_remaining / 100.0f;
battery_status.discharged_mah = (float)battery_mavlink.current_consumed;
battery_status.cell_count = cell_count;
battery_status.temperature = (float)battery_mavlink.temperature;
battery_status.temperature = (battery_mavlink.temperature == INT16_MAX) ?
NAN : (float)battery_mavlink.temperature / 100.0f;
battery_status.connected = true;
// Set the battery warning based on remaining charge.
// Set the battery warning based on remaining charge, if available.
// Note: Smallest values must come first in evaluation.
if (battery_status.remaining < _param_bat_emergen_thr.get()) {
battery_status.warning = battery_status_s::WARNING_EMERGENCY;
if (battery_status.remaining >= 0.0f) {
if (battery_status.remaining < _param_bat_emergen_thr.get()) {
battery_status.warning = battery_status_s::WARNING_EMERGENCY;
} else if (battery_status.remaining < _param_bat_crit_thr.get()) {
battery_status.warning = battery_status_s::WARNING_CRITICAL;
} else if (battery_status.remaining < _param_bat_crit_thr.get()) {
battery_status.warning = battery_status_s::WARNING_CRITICAL;
} else if (battery_status.remaining < _param_bat_low_thr.get()) {
battery_status.warning = battery_status_s::WARNING_LOW;
} else if (battery_status.remaining < _param_bat_low_thr.get()) {
battery_status.warning = battery_status_s::WARNING_LOW;
}
}
_battery_pub.publish(battery_status);