PX4 ROS 2 Interface Library
Library to interface with PX4 from a companion computer using ROS 2
battery.hpp
1 /****************************************************************************
2  * Copyright (c) 2023-2024 PX4 Development Team.
3  * SPDX-License-Identifier: BSD-3-Clause
4  ****************************************************************************/
5 
6 #pragma once
7 
8 #include <Eigen/Eigen>
9 #include <px4_msgs/msg/battery_status.hpp>
10 #include <px4_ros2/common/context.hpp>
11 #include <px4_ros2/utils/subscription.hpp>
12 
13 namespace px4_ros2
14 {
24 class Battery : public Subscription<px4_msgs::msg::BatteryStatus>
25 {
26 public:
27  explicit Battery(Context & context)
28  : Subscription<px4_msgs::msg::BatteryStatus>(context, "fmu/out/battery_status") {}
29 
35  float voltageV() const
36  {
37  return last().voltage_v;
38  }
39 
45  float currentA() const
46  {
47  return last().current_a;
48  }
49 
55  float dischargedCapacityMah() const
56  {
57  return last().discharged_mah;
58  }
59 
65  float remaningFraction() const
66  {
67  return last().remaining;
68  }
69 
75  uint8_t cellCount() const
76  {
77  return last().cell_count;
78  }
79 
85  Eigen::VectorXf cellVoltagesV() const
86  {
87  const px4_msgs::msg::BatteryStatus & battery = last();
88  const uint8_t cell_count = battery.cell_count;
89 
90  if (cell_count == 0) {
91  RCLCPP_WARN_THROTTLE(
92  _node.get_logger(),
93  *_node.get_clock(), 1000, "Failed to retrieve battery cell voltage: cell count unknown.");
94  return Eigen::VectorXf();
95  }
96 
97  Eigen::VectorXf cell_voltages(cell_count);
98  for (uint8_t i = 0; i < cell_count; ++i) {
99  cell_voltages(i) = battery.voltage_cell_v[i];
100  }
101 
102  return cell_voltages;
103  }
104 
105 };
106 
108 } /* namespace px4_ros2 */
Provides access to the vehicle's battery status.
Definition: battery.hpp:25
uint8_t cellCount() const
Get the vehicle's battery cell count.
Definition: battery.hpp:75
float dischargedCapacityMah() const
Get the vehicle's battery cumulative discharged capacity.
Definition: battery.hpp:55
float currentA() const
Get the vehicle's battery current.
Definition: battery.hpp:45
float voltageV() const
Get the vehicle's battery voltage.
Definition: battery.hpp:35
float remaningFraction() const
Get the vehicle's battery remaining charge as a fraction.
Definition: battery.hpp:65
Eigen::VectorXf cellVoltagesV() const
Get the voltages of each cell in the vehicle's battery.
Definition: battery.hpp:85
Definition: context.hpp:20
Provides a subscription to arbitrary ROS topics.
Definition: subscription.hpp:23
const px4_msgs::msg::BatteryStatus & last() const
Get the last-received message.
Definition: subscription.hpp:58