Support MAVLink BATTERY_STATUS_V2 by hunt0r · Pull Request #7 · hunt0r/ardupilot

hunt0r · 2026-05-25T16:55:47Z

This is a draft useful for anchoring discussion on ArduPilot#33196

- ignore trailing whitespace - have LSP automatically find compile_commands.json

hunt0r · 2026-05-27T22:56:40Z

+#if AP_BATTERY_ENABLED
    void send_battery_status(const uint8_t instance) const;
    bool send_battery_status();
+#if AP_MAVLINK_BATTERY_STATUS_V2_ENABLED
+    void send_battery_status_v2(const uint8_t instance) const;
+    bool send_battery_status_v2();
+#endif // AP_MAVLINK_BATTERY_STATUS_V2_ENABLED
+#endif // AP_BATTERY_ENABLED


Look into making these private.

Maybe even via a separate tiny PR.

hunt0r · 2026-05-27T22:56:58Z

+#if AP_BATTERY_ENABLED
    int8_t battery_remaining_pct(const uint8_t instance) const;
+#endif


Instead move this up to the others, or down to the privates.

peterbarker · 2026-05-27T23:08:37Z

 #if HAL_WITH_MCU_MONITORING
    void send_mcu_status(void);
 #endif
+#if AP_BATTERY_ENABLED


Suggested change

#if AP_BATTERY_ENABLED

#if AP_MAVLINK_BATTERY_STATUS_ENABLED

peterbarker · 2026-05-27T23:10:12Z

        break;
 #endif

 #if AP_BATTERY_ENABLED


Suggested change

#if AP_MAVLINK_BATTERY_STATUS_ENABLED

peterbarker · 2026-05-27T23:16:58Z

    }
 }

+// return true if reported consumed and remaining capacities are relative to a full battery


Expand to say what the alternative is - what might you be otherwise relative to?

peterbarker · 2026-05-27T23:25:04Z

+        return status_flags;
+    }
+
+    status_flags |= MAV_BATTERY_STATUS_FLAGS_NOT_READY_TO_USE |


struct { uint32_t oldval; uint32_t newval; } conversions[] { { MAV_BATTERY_FAULT_DEEP_DISCHARGE, MAV_BATTERY_STATUS_FLAGS_FAULT_UNDER_VOLT |MAV_BATTERY_STATUS_FLAGS_BAD_BATTERY }, . . };

(and iterate that to convert from one to the other

peterbarker · 2026-05-27T23:38:24Z

+        self.get_sim_time(drain_mav=True) # required for timeout in run_cmd_get_ack to work
+        self.send_poll_message("BATTERY_STATUS_V2")
+        self.run_cmd_get_ack(
+            mavutil.mavlink.MAV_CMD_REQUEST_MESSAGE,
+            mavutil.mavlink.MAV_RESULT_ACCEPTED,
+            timeout=timeout_sec,
+        )
+        status_v2 = self.assert_receive_message("BATTERY_STATUS_V2",
+                                                timeout=timeout_sec)


Suggested change

self.get_sim_time(drain_mav=True) # required for timeout in run_cmd_get_ack to work

self.send_poll_message("BATTERY_STATUS_V2")

self.run_cmd_get_ack(

mavutil.mavlink.MAV_CMD_REQUEST_MESSAGE,

mavutil.mavlink.MAV_RESULT_ACCEPTED,

timeout=timeout_sec,

)

status_v2 = self.assert_receive_message("BATTERY_STATUS_V2",

timeout=timeout_sec)

status_v2 = self.poll_message("BATTERY_STATUS_V2")

peterbarker · 2026-05-27T23:38:44Z

+        status_v2 = self.assert_receive_message("BATTERY_STATUS_V2",
+                                                timeout=timeout_sec)
+        status_v1 = self.assert_receive_message("BATTERY_STATUS",
+                                                timeout=timeout_sec,


Suggested change

timeout=timeout_sec,

peterbarker · 2026-05-27T23:41:54Z

+                                                condition=f"BATTERY_STATUS.id=={status_v2.id}",
+        )
+
+        status_v1_voltage = status_v1.voltages[0] * 0.001


assert_received_message_values (with poll True)

peterbarker · 2026-05-27T23:43:18Z

+            raise NotAchievedException("Power-monitor BATTERY_STATUS_V2 should not report capacity relative to full")
+
+        self.start_subtest("Set BATTERY_STATUS_V2 stream rate")
+        self.set_message_rate_hz("BATTERY_STATUS_V2", 2)


self.context_set_message_rate_hz("BATTERY_STATUS_V2", 2)

peterbarker · 2026-06-10T23:07:18Z

@@ -75,6 +75,10 @@
 #define AP_MAVLINK_MSG_WIND_ENABLED AP_AHRS_ENABLED
 #endif

+#ifndef AP_MAVLINK_BATTERY_STATUS_V2_ENABLED


Suggested change

#ifndef AP_MAVLINK_BATTERY_STATUS_V2_ENABLED

#ifndef AP_MAVLINK_MSG_BATTERY_STATUS_V2_ENABLED

github-actions Bot added the Python label May 25, 2026

hunt0r force-pushed the support-mavlink-battery-status-v2 branch from 0a6d621 to d40823a Compare May 25, 2026 23:57

hunt0r force-pushed the master branch 2 times, most recently from c48d113 to fbe129c Compare May 27, 2026 03:32

hunt0r added 6 commits May 27, 2026 08:28

gittools: Make git-subsystems-split work for MacOS's version of sed

650d85b

hunt0r: Set some project elisp variables

f30e5c9

- ignore trailing whitespace - have LSP automatically find compile_commands.json

ardupilotwaf: Supress some build spam about compile_commands.json

02348eb

hunt0r: Put my codex notes at top of AGENTS.md

7c39e06

hunt0r: Delete the repo's README (instead put my contributions there)

2954b08

hunt0r: summarize contributions in README.md for public display

cc74cdb

hunt0r force-pushed the master branch from fbe129c to cc74cdb Compare May 27, 2026 12:28

hunt0r force-pushed the support-mavlink-battery-status-v2 branch from d40823a to da448a3 Compare May 27, 2026 19:51

hunt0r commented May 27, 2026

View reviewed changes

peterbarker reviewed May 27, 2026

View reviewed changes

hunt0r added 6 commits May 28, 2026 10:07

mavlink: add BATTERY_STATUS_V2 definitions

233edce

GCS_MAVLink: add BATTERY_STATUS_V2 sender

e145899

GCS_MAVLink: stream BATTERY_STATUS_V2

56f9e6b

AP_BattMonitor: expose full-relative capacity

43cdbe7

GCS_MAVLink: set BATTERY_STATUS_V2 flags

269c1e4

Tools: add BATTERY_STATUS_V2 autotest

c01c4a1

hunt0r force-pushed the support-mavlink-battery-status-v2 branch from da448a3 to c01c4a1 Compare May 28, 2026 14:07

hunt0r force-pushed the master branch from cc74cdb to cf474d4 Compare May 30, 2026 13:05

hunt0r force-pushed the master branch 2 times, most recently from af38ddf to b8103d1 Compare June 7, 2026 12:39

hunt0r force-pushed the master branch from b8103d1 to 7d91f19 Compare June 10, 2026 12:50

peterbarker reviewed Jun 10, 2026

View reviewed changes

hunt0r mentioned this pull request Jun 10, 2026

Investigation: Support upcoming MAVLink BATTERY_STATUS_V2 (369) message ArduPilot/ardupilot#33196

Open

6 tasks

hunt0r force-pushed the master branch 2 times, most recently from cc0226a to bec1699 Compare June 18, 2026 15:35

hunt0r force-pushed the master branch 2 times, most recently from 22ae1f5 to fa0ec26 Compare June 23, 2026 14:22

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Support MAVLink BATTERY_STATUS_V2#7

Support MAVLink BATTERY_STATUS_V2#7
hunt0r wants to merge 12 commits into
masterfrom
support-mavlink-battery-status-v2

hunt0r commented May 25, 2026

Uh oh!

hunt0r May 27, 2026

Uh oh!

hunt0r May 27, 2026

Uh oh!

hunt0r May 27, 2026

Uh oh!

peterbarker May 27, 2026

Uh oh!

peterbarker May 27, 2026

Uh oh!

peterbarker May 27, 2026 •

edited

Loading

Uh oh!

peterbarker May 27, 2026

Uh oh!

peterbarker May 27, 2026

Uh oh!

peterbarker May 27, 2026

Uh oh!

peterbarker May 27, 2026

Uh oh!

peterbarker May 27, 2026

Uh oh!

peterbarker Jun 10, 2026

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

2 participants

	#ifndef AP_MAVLINK_BATTERY_STATUS_V2_ENABLED
	#ifndef AP_MAVLINK_MSG_BATTERY_STATUS_V2_ENABLED

Conversation

hunt0r commented May 25, 2026

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

peterbarker May 27, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

2 participants

peterbarker May 27, 2026 •

edited

Loading