Better Battery Messages

ardupilot/equipment/power/20010.BatteryContinuous.uavcan

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+#
+# Battery data to be sent continuously
+#
+
+float16 temperature_cells       # [C]  : Pack mounted thermistor (preferably installed between cells), NAN: field not provided
+float16 temperature_pcb         # [C]  : Battery PCB temperature (likely output FET(s) or current sense resistor), NAN: field not provided
+float16 temperature_other       # [C]  : Application dependent, NAN: field not provided
+float32 current                 # [A]  : Positive: defined as a discharge current. Negative: defined as a charging current, NAN: field not provided
+float32 voltage                 # [V]  : Battery voltage
+float16 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
+uint32 status_flags             #      : Fault, health, readiness, and other status indications
+
+uint32 STATUS_FLAG_READY_TO_USE                             = 1
+uint32 STATUS_FLAG_CHARGING                                 = 2
+uint32 STATUS_FLAG_CELL_BALANCING                           = 4
+uint32 STATUS_FLAG_FAULT_CELL_IMBALANCE                     = 8
+uint32 STATUS_FLAG_AUTO_DISCHARGING                         = 16
+uint32 STATUS_FLAG_REQUIRES_SERVICE                         = 32
+uint32 STATUS_FLAG_BAD_BATTERY                              = 64
+uint32 STATUS_FLAG_PROTECTIONS_ENABLED                      = 128
+uint32 STATUS_FLAG_FAULT_PROTECTION_SYSTEM                  = 256
+uint32 STATUS_FLAG_FAULT_OVER_VOLT                          = 512
+uint32 STATUS_FLAG_FAULT_UNDER_VOLT                         = 1024
+uint32 STATUS_FLAG_FAULT_OVER_TEMP                          = 2048
+uint32 STATUS_FLAG_FAULT_UNDER_TEMP                         = 4096
+uint32 STATUS_FLAG_FAULT_OVER_CURRENT                       = 8192
+uint32 STATUS_FLAG_FAULT_SHORT_CIRCUIT                      = 16384
+uint32 STATUS_FLAG_FAULT_INCOMPATIBLE_VOLTAGE               = 32768
+uint32 STATUS_FLAG_FAULT_INCOMPATIBLE_FIRMWARE              = 65536
+uint32 STATUS_FLAG_FAULT_INCOMPATIBLE_CELLS_CONFIGURATION   = 131072
+uint32 STATUS_FLAG_CAPACITY_RELATIVE_TO_FULL                = 262144

ardupilot/equipment/power/20011.BatteryPeriodic.uavcan

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+#
+# Battery data to be sent statically upon request or periodically at a low rate
+#  Recommend that this message is sent at a maximum of 1Hz and nominally 0.2 Hz (IE: once every 5 seconds.)
+
+uint8[<=50] name                        #      : Formatted as manufacturer_product, 0 terminated
+uint8[<=32] serial_number               #      : Serial number in ASCII characters, 0 terminated
+uint8[<=9] manufacture_date             #      : Manufacture date (DDMMYYYY) in ASCII characters, 0 terminated
+float32 design_capacity                 # [Ah] : Fully charged design capacity. 0: field not provided.
+uint8 cells_in_series                   #      : Number of battery cells in series. 0: field not provided.
+float16 nominal_voltage                 # [V]  : Battery nominal voltage. Used for conversion between Wh and Ah. 0: field not provided.
+float16 discharge_minimum_voltage       # [V]  : Minimum per-cell voltage when discharging. 0: field not provided.
+float16 charging_minimum_voltage        # [V]  : Minimum per-cell voltage when charging. 0: field not provided.
+float16 charging_maximum_voltage        # [V]  : Maximum per-cell voltage when charged. 0: field not provided.
+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.

ardupilot/equipment/power/20012.BatteryCells.uavcan

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+#
+# Battery cell voltages
+# Rate: set by parameter on smart battery (default off)
+#
+
+float16[<=24] voltages            # [Volt]
+uint16 index                      # Index of the first cell in the array, index 0 is cells at array indices 0 - 23, index 24 is cells at array indices 24 - 47, etc.
+