Fix the case where the flight controller is connected to the battery (charge 100), QGC shows no battery

[CUAVcaijie]

I use the CAN PMU to power the CUAVv5+. When the CAN PMU reaches 100, the QGC shows no battery .
It was found that MAVLINK SYS_STATUS selected the first group of unconnected battery status. Instead of the actual battery status behind

[dagar]

I'm not sure that I'm following the logic correctly. Why is this happening at 100? What does listener battery_status show?

[saengphet]

Hi, @CUAVcaijie I think this is the same (or similar) problem that I have faced. Furthermore, in my case, I tried to use 1 of regular PM and 1 of CANPMU at the same time for redundancy. I solved the problem by changing battery remaining of CANPMU to 1 ( in sensors/battery.cpp), then the system will choose the lowest one to make decisions about arm or disarm. It is temporarily fixed.

#15244

[CUAVcaijie]

I'm not sure that I'm following the logic correctly. Why is this happening at 100? What does listener battery_status show?

The data of battery_status_s is as follows:
The first group: connected=0, remaining=1.f
The third group: connected=1, remaining=1.f

[CUAVcaijie]

Hi, @CUAVcaijie I think this is the same (or similar) problem that I have faced. Furthermore, in my case, I tried to use 1 of regular PM and 1 of CANPMU at the same time for redundancy. I solved the problem by changing battery remaining of CANPMU to 1 ( in sensors/battery.cpp), then the system will choose the lowest one to make decisions about arm or disarm. It is temporarily fixed.

#15244

Because CUAV CAN PMU is not a smart battery, it cannot provide accurate remaining power
#15314

[CUAVcaijie]

@dagar Do you have any other questions?

[CUAVcaijie]

@dagar @davids5
The problem I solved here is that when the power supply of the first group and the second group of ADC is not connected, the power of the latter is less than 100 before it is sent to the ground station. Now I have a battery up to 100 and the ground station shows no battery access.

[CUAVcaijie]

@dagar How about this？

[CUAVcaijie]

@dagar How about this？

[CUAVcaijie]

@dagar How about this？

[stale]

This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.

[LorenzMeier]

I've rebased this: #16591

[CUAVcaijie]

thank you