removed capacity_remaining and moved full_charge_capacity to the peri…

…odic message
dronecan · Dec 21, 2022 · a6de481 · a6de481
1 parent 95038d7
commit a6de481
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diff --git a/ardupilot/equipment/power/20010.BatteryContinuous.uavcan b/ardupilot/equipment/power/20010.BatteryContinuous.uavcan
@@ -10,8 +10,6 @@ float16 voltage                 # [V]  : Battery voltage
 uint8 state_of_charge           # [%]  : The estimated state of charge, in percent remaining (0 - 100).
 uint8 slot_id                   #      : The physical location of the battery on the aircraft. 0: field not provided
 float32 capacity_consumed       # [Ah] : This is either the consumption since power-on or since the battery was full, depending on the value of STATUS_FLAG_CAPACITY_RELATIVE_TO_FULL, NAN: field not provided
-float32 capacity_remaining      # [Ah] : If STATUS_FLAG_CAPACITY_RELATIVE_TO_FULL is unset, this value is based on the assumption the battery was full when the system was powered, NAN: field not provided
-float32 full_charge_capacity    # [Ah] : Predicted battery capacity when fully charged (accounting for battery degradation), NAN: field not provided
 uint32 status_flags             #      : Fault, health, readiness, and other status indications
 
 uint32 STATUS_FLAG_READY_TO_USE                             = 1

diff --git a/ardupilot/equipment/power/20011.BatteryPeriodic.uavcan b/ardupilot/equipment/power/20011.BatteryPeriodic.uavcan
@@ -14,5 +14,6 @@ float16 charging_maximum_voltage        # [V]  : Maximum per-cell voltage when c
 float32 charging_maximum_current        # [A]  : Maximum pack continuous charge current. 0: field not provided.
 float32 discharge_maximum_current       # [A]  : Maximum pack continuous discharge current. 0: field not provided.
 float32 discharge_maximum_burst_current # [A]  : Maximum pack discharge burst current for 30 seconds. 0: field not provided
+float32 full_charge_capacity            # [Ah] : Predicted battery capacity when fully charged (accounting for battery degradation), NAN: field not provided
 uint16 cycle_count                      #      : Lifetime count of the number of charge/discharge cycles (https://en.wikipedia.org/wiki/Charge_cycle). UINT16_MAX: field not provided.
 uint8 state_of_health                   # [%]  : State of Health (SOH) estimate, in percent (0 - 100). UINT8_MAX: field not provided.