AP_BattMonitor: added get_cell_voltage() for scripting

ArduPilot · Oct 23, 2023 · b197f11 · b197f11
1 parent 13d5668
commit b197f11
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diff --git a/libraries/AP_BattMonitor/AP_BattMonitor.cpp b/libraries/AP_BattMonitor/AP_BattMonitor.cpp
@@ -874,6 +874,23 @@ const AP_BattMonitor::cells & AP_BattMonitor::get_cell_voltages(const uint8_t in
     }
 }
 
+// get once cell voltage (for scripting)
+bool AP_BattMonitor::get_cell_voltage(uint8_t instance, uint8_t cell, float &voltage) const
+{
+    if (!has_cell_voltages(instance) ||
+        cell >= AP_BATT_MONITOR_CELLS_MAX) {
+        return false;
+    }
+    const auto &cell_voltages = get_cell_voltages(instance);
+    const uint16_t voltage_mv = cell_voltages.cells[cell];
+    if (voltage_mv == 0 || voltage_mv == UINT16_MAX) {
+        // UINT16_MAX is used as invalid indicator
+        return false;
+    }
+    voltage = voltage_mv*0.001;
+    return true;
+}
+
 // returns true if there is a temperature reading
 bool AP_BattMonitor::get_temperature(float &temperature, const uint8_t instance) const
 {

diff --git a/libraries/AP_BattMonitor/AP_BattMonitor.h b/libraries/AP_BattMonitor/AP_BattMonitor.h
@@ -232,6 +232,9 @@ class AP_BattMonitor
     const cells &get_cell_voltages() const { return get_cell_voltages(AP_BATT_PRIMARY_INSTANCE); }
     const cells &get_cell_voltages(const uint8_t instance) const;
 
+    // get once cell voltage (for scripting)
+    bool get_cell_voltage(uint8_t instance, uint8_t cell, float &voltage) const;
+
     // temperature
     bool get_temperature(float &temperature) const { return get_temperature(temperature, AP_BATT_PRIMARY_INSTANCE); }
     bool get_temperature(float &temperature, const uint8_t instance) const;