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Handle MAV_CMD_BATTERY_RESET as both long and int #25471

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merged 2 commits into from
Nov 8, 2023
Merged

Handle MAV_CMD_BATTERY_RESET as both long and int #25471

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305940d
autotest: add test for battery reset
peterbarker Nov 7, 2023
2611b5d
GCS_MAVLink: handle battery reset as both long and int
peterbarker Nov 7, 2023
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15 changes: 15 additions & 0 deletions Tools/autotest/rover.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6614,6 +6614,20 @@ def MAV_CMD_DO_FENCE_ENABLE(self):
self.run_cmd_int(mavutil.mavlink.MAV_CMD_DO_FENCE_ENABLE, p1=0)
self.assert_fence_disabled()

def MAV_CMD_BATTERY_RESET(self):
'''manipulate battery levels with MAV_CMD_BATTERY_RESET'''
for (run_cmd, value) in (self.run_cmd, 56), (self.run_cmd_int, 97):
run_cmd(
mavutil.mavlink.MAV_CMD_BATTERY_RESET,
p1=65535, # battery mask
p2=value,
)
self.assert_received_message_field_values('BATTERY_STATUS', {
"battery_remaining": value,
}, {
"poll": True,
})

def tests(self):
'''return list of all tests'''
ret = super(AutoTestRover, self).tests()
Expand Down Expand Up @@ -6697,6 +6711,7 @@ def tests(self):
self.MAV_CMD_DO_SET_REVERSE,
self.MAV_CMD_GET_HOME_POSITION,
self.MAV_CMD_DO_FENCE_ENABLE,
self.MAV_CMD_BATTERY_RESET,
])
return ret

Expand Down
2 changes: 1 addition & 1 deletion libraries/GCS_MAVLink/GCS.h
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Original file line number Diff line number Diff line change
Expand Up @@ -640,7 +640,7 @@ class GCS_MAVLINK

virtual MAV_RESULT handle_command_do_set_mission_current(const mavlink_command_long_t &packet);

MAV_RESULT handle_command_battery_reset(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_battery_reset(const mavlink_command_int_t &packet);
void handle_command_long(const mavlink_message_t &msg);
MAV_RESULT handle_command_accelcal_vehicle_pos(const mavlink_command_int_t &packet);

Expand Down
14 changes: 7 additions & 7 deletions libraries/GCS_MAVLink/GCS_Common.cpp
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Expand Up @@ -4476,7 +4476,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_set_mission_current(const mavlink_comm
}

#if AP_BATTERY_ENABLED
MAV_RESULT GCS_MAVLINK::handle_command_battery_reset(const mavlink_command_long_t &packet)
MAV_RESULT GCS_MAVLINK::handle_command_battery_reset(const mavlink_command_int_t &packet)
{
const uint16_t battery_mask = packet.param1;
const float percentage = packet.param2;
Expand Down Expand Up @@ -4744,12 +4744,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
result = handle_command_do_set_mission_current(packet);
break;

#if AP_BATTERY_ENABLED
case MAV_CMD_BATTERY_RESET:
result = handle_command_battery_reset(packet);
break;
#endif

default:
result = try_command_long_as_command_int(packet, msg);
break;
Expand Down Expand Up @@ -5016,6 +5010,12 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
case MAV_CMD_AIRFRAME_CONFIGURATION:
return handle_command_airframe_configuration(packet);
#endif

#if AP_BATTERY_ENABLED
case MAV_CMD_BATTERY_RESET:
return handle_command_battery_reset(packet);
#endif

#if HAL_CANMANAGER_ENABLED
case MAV_CMD_CAN_FORWARD:
return handle_can_forward(packet, msg);
Expand Down