lanyard.health.BatteryStatus.2.0¶

State of one battery pack, published at 2 Hz by the smart battery or power module.

Full name	lanyard.health.BatteryStatus
Version	2.0
Kind	Message
Fixed port ID	6251
Least supported transport	CAN FD

Wire layout¶

Section	Extent (bytes)	Max serialized (bytes)
Message	128	75

A sealed type reports its extent as its exact serialized size; a delimited type reports the declared @extent, which bounds what a reader must be prepared to receive.

Definition¶

# State of one battery pack, published at 2 Hz by the smart battery or
# power module.
#
# LEAST SUPPORTED TRANSPORT: CAN FD.
#
# VERSIONING: this definition replaces the polled LegacyBatteryPoll.1.0
# service, which is @deprecated. The change of shape -- from a service
# the flight controller had to poll to a message the pack publishes on
# its own -- is why this is a 2.0 and not a minor revision of anything.
# The deprecated service remains in the namespace so that both halves of
# a migration are visible.

uavcan.time.SynchronizedTimestamp.1.0 timestamp
# Moment the measurements were sampled.

uavcan.si.unit.voltage.Scalar.1.0 voltage
# Pack terminal voltage in volts.

uavcan.si.unit.electric_current.Scalar.1.0 current
# Pack current in amperes. Positive is discharge, negative is charge.

uavcan.si.unit.temperature.Scalar.1.0 temperature
# Hottest cell temperature in kelvin. Kelvin, not Celsius, because that
# is the SI unit the standard type carries; using the standard type
# means a generic consumer needs no per-vendor conversion, and the
# arithmetic to display Celsius belongs in the display layer.

float16 remaining_capacity_ratio
# State of charge, 0.0 (empty) to 1.0 (full).

float16 full_charge_capacity_ah
# Capacity of the pack when fully charged, in ampere-hours. Declines
# over the pack's life, so a consumer computing endurance uses this
# rather than the nameplate capacity.

uint16 cycle_count
# Completed charge/discharge cycles, for maintenance scheduling.

uint8 status_flags
# Bit mask of active pack conditions.
#   bit 0 - charging
#   bit 1 - cell imbalance beyond threshold
#   bit 2 - over-temperature
#   bit 3 - under-voltage cutoff imminent
#   bit 4 - pack requires service
#   bits 5..7 - reserved, transmitted as zero

float16[<=24] cell_voltage
# Per-cell voltages in volts. The array length reports the pack's series
# count, so one definition serves the 6S and 12S packs in the fleet and
# the 24S pack on the heavy airframe.

@extent 128 * 8

Generated code¶

Declaration excerpts only -- the serialization bodies are omitted for length. Build the showroom target for the complete output in every language and profile.

C¶

/* State of one battery pack, published at 2 Hz by the smart battery or */
/* power module. */
/*  */
/* LEAST SUPPORTED TRANSPORT: CAN FD. */
/*  */
/* VERSIONING: this definition replaces the polled LegacyBatteryPoll.1.0 */
/* service, which is @deprecated. The change of shape -- from a service */
/* the flight controller had to poll to a message the pack publishes on */
/* its own -- is why this is a 2.0 and not a minor revision of anything. */
/* The deprecated service remains in the namespace so that both halves of */
/* a migration are visible. */
typedef struct lanyard__health__BatteryStatus {
  /* Moment the measurements were sampled. */
  uavcan__time__SynchronizedTimestamp timestamp;
  /* Pack terminal voltage in volts. */
  uavcan__si__unit__voltage__Scalar voltage;
  /* Pack current in amperes. Positive is discharge, negative is charge. */
  uavcan__si__unit__electric_current__Scalar current;
  /* Hottest cell temperature in kelvin. Kelvin, not Celsius, because that */
  /* is the SI unit the standard type carries; using the standard type */
  /* means a generic consumer needs no per-vendor conversion, and the */
  /* arithmetic to display Celsius belongs in the display layer. */
  uavcan__si__unit__temperature__Scalar temperature;
  /* State of charge, 0.0 (empty) to 1.0 (full). */
  float remaining_capacity_ratio;
  /* Capacity of the pack when fully charged, in ampere-hours. Declines */
  /* over the pack's life, so a consumer computing endurance uses this */
  /* rather than the nameplate capacity. */
  float full_charge_capacity_ah;
  /* Completed charge/discharge cycles, for maintenance scheduling. */
  uint16_t cycle_count;
  /* Bit mask of active pack conditions. */
  /*   bit 0 - charging */
  /*   bit 1 - cell imbalance beyond threshold */
  /*   bit 2 - over-temperature */
  /*   bit 3 - under-voltage cutoff imminent */
  /*   bit 4 - pack requires service */
  /*   bits 5..7 - reserved, transmitted as zero */
  uint8_t status_flags;
  /* Per-cell voltages in volts. The array length reports the pack's series */
  /* count, so one definition serves the 6S and 12S packs in the fleet and */
  /* the 24S pack on the heavy airframe. */
  struct {
    float elements[24U];
    size_t count;
  } cell_voltage;
} lanyard__health__BatteryStatus;

C++ (std)¶

// State of one battery pack, published at 2 Hz by the smart battery or
// power module.
// 
// LEAST SUPPORTED TRANSPORT: CAN FD.
// 
// VERSIONING: this definition replaces the polled LegacyBatteryPoll.1.0
// service, which is @deprecated. The change of shape -- from a service
// the flight controller had to poll to a message the pack publishes on
// its own -- is why this is a 2.0 and not a minor revision of anything.
// The deprecated service remains in the namespace so that both halves of
// a migration are visible.
struct BatteryStatus {
  // Moment the measurements were sampled.
  ::uavcan::time::SynchronizedTimestamp timestamp{};
  // Pack terminal voltage in volts.
  ::uavcan::si::unit::voltage::Scalar voltage{};
  // Pack current in amperes. Positive is discharge, negative is charge.
  ::uavcan::si::unit::electric_current::Scalar current{};
  // Hottest cell temperature in kelvin. Kelvin, not Celsius, because that
  // is the SI unit the standard type carries; using the standard type
  // means a generic consumer needs no per-vendor conversion, and the
  // arithmetic to display Celsius belongs in the display layer.
  ::uavcan::si::unit::temperature::Scalar temperature{};
  // State of charge, 0.0 (empty) to 1.0 (full).
  float remaining_capacity_ratio{};
  // Capacity of the pack when fully charged, in ampere-hours. Declines
  // over the pack's life, so a consumer computing endurance uses this
  // rather than the nameplate capacity.
  float full_charge_capacity_ah{};
  // Completed charge/discharge cycles, for maintenance scheduling.
  std::uint16_t cycle_count{};
  // Bit mask of active pack conditions.
  //   bit 0 - charging
  //   bit 1 - cell imbalance beyond threshold
  //   bit 2 - over-temperature
  //   bit 3 - under-voltage cutoff imminent
  //   bit 4 - pack requires service
  //   bits 5..7 - reserved, transmitted as zero
  std::uint8_t status_flags{};
  // Per-cell voltages in volts. The array length reports the pack's series
  // count, so one definition serves the 6S and 12S packs in the fleet and
  // the 24S pack on the heavy airframe.
  std::vector<float> cell_voltage{};
  static constexpr const char* FULL_NAME = "lanyard.health.BatteryStatus";
  static constexpr bool IS_DEPRECATED = false;
  static constexpr const char* FULL_NAME_AND_VERSION = "lanyard.health.BatteryStatus.2.0";
  static constexpr std::size_t EXTENT_BYTES = 128U;
  static constexpr std::size_t SERIALIZATION_BUFFER_SIZE_BYTES = 75U;
  static constexpr bool ZOH_ALIAS_ELIGIBLE = false;
  static constexpr const char* ZOH_ALIAS_REASON = "invalid-bit-length";
  static constexpr std::size_t CELL_VOLTAGE_ARRAY_CAPACITY = 24U;
  static constexpr bool CELL_VOLTAGE_ARRAY_IS_VARIABLE_LENGTH = true;
  LLVMDSDL_NODISCARD inline std::int8_t serialize(std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes) const {
    return BatteryStatus__serialize_(this, buffer, inout_buffer_size_bytes);
  }
  LLVMDSDL_NODISCARD inline std::int8_t deserialize(const std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes) {
    return BatteryStatus__deserialize_(this, buffer, inout_buffer_size_bytes);
  }
  LLVMDSDL_NODISCARD static inline std::int8_t try_deserialize_view(const std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes, const std::uint8_t** out_view_bytes) {
    return BatteryStatus__try_deserialize_view_(buffer, inout_buffer_size_bytes, out_view_bytes);
  }
  LLVMDSDL_NODISCARD static inline std::int8_t try_serialize_view(const std::uint8_t* view_bytes, std::size_t view_size_bytes, std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes) {
    return BatteryStatus__try_serialize_view_(view_bytes, view_size_bytes, buffer, inout_buffer_size_bytes);
  }
};

C++ (pmr)¶

Polymorphic-allocator profile: variable-length fields route through std::pmr.

// State of one battery pack, published at 2 Hz by the smart battery or
// power module.
// 
// LEAST SUPPORTED TRANSPORT: CAN FD.
// 
// VERSIONING: this definition replaces the polled LegacyBatteryPoll.1.0
// service, which is @deprecated. The change of shape -- from a service
// the flight controller had to poll to a message the pack publishes on
// its own -- is why this is a 2.0 and not a minor revision of anything.
// The deprecated service remains in the namespace so that both halves of
// a migration are visible.
struct BatteryStatus {
  // Moment the measurements were sampled.
  ::uavcan::time::SynchronizedTimestamp timestamp{};
  // Pack terminal voltage in volts.
  ::uavcan::si::unit::voltage::Scalar voltage{};
  // Pack current in amperes. Positive is discharge, negative is charge.
  ::uavcan::si::unit::electric_current::Scalar current{};
  // Hottest cell temperature in kelvin. Kelvin, not Celsius, because that
  // is the SI unit the standard type carries; using the standard type
  // means a generic consumer needs no per-vendor conversion, and the
  // arithmetic to display Celsius belongs in the display layer.
  ::uavcan::si::unit::temperature::Scalar temperature{};
  // State of charge, 0.0 (empty) to 1.0 (full).
  float remaining_capacity_ratio{};
  // Capacity of the pack when fully charged, in ampere-hours. Declines
  // over the pack's life, so a consumer computing endurance uses this
  // rather than the nameplate capacity.
  float full_charge_capacity_ah{};
  // Completed charge/discharge cycles, for maintenance scheduling.
  std::uint16_t cycle_count{};
  // Bit mask of active pack conditions.
  //   bit 0 - charging
  //   bit 1 - cell imbalance beyond threshold
  //   bit 2 - over-temperature
  //   bit 3 - under-voltage cutoff imminent
  //   bit 4 - pack requires service
  //   bits 5..7 - reserved, transmitted as zero
  std::uint8_t status_flags{};
  // Per-cell voltages in volts. The array length reports the pack's series
  // count, so one definition serves the 6S and 12S packs in the fleet and
  // the 24S pack on the heavy airframe.
  std::pmr::vector<float> cell_voltage{};
  ::llvmdsdl::cpp::MemoryResource* _memory_resource{::llvmdsdl::cpp::default_memory_resource()};
  BatteryStatus() = default;
  explicit BatteryStatus(::llvmdsdl::cpp::MemoryResource* memory_resource) { set_memory_resource(memory_resource); }
  void set_memory_resource(::llvmdsdl::cpp::MemoryResource* memory_resource) {
    _memory_resource = (memory_resource != nullptr) ? memory_resource : ::llvmdsdl::cpp::default_memory_resource();
    cell_voltage = decltype(cell_voltage)(_memory_resource);
    timestamp.set_memory_resource(_memory_resource);
    voltage.set_memory_resource(_memory_resource);
    current.set_memory_resource(_memory_resource);
    temperature.set_memory_resource(_memory_resource);
  }
  static constexpr const char* FULL_NAME = "lanyard.health.BatteryStatus";
  static constexpr bool IS_DEPRECATED = false;
  static constexpr const char* FULL_NAME_AND_VERSION = "lanyard.health.BatteryStatus.2.0";
  static constexpr std::size_t EXTENT_BYTES = 128U;
  static constexpr std::size_t SERIALIZATION_BUFFER_SIZE_BYTES = 75U;
  static constexpr bool ZOH_ALIAS_ELIGIBLE = false;
  static constexpr const char* ZOH_ALIAS_REASON = "invalid-bit-length";
  static constexpr std::size_t CELL_VOLTAGE_ARRAY_CAPACITY = 24U;
  static constexpr bool CELL_VOLTAGE_ARRAY_IS_VARIABLE_LENGTH = true;
  LLVMDSDL_NODISCARD inline std::int8_t serialize(std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes) const {
    return BatteryStatus__serialize_(this, buffer, inout_buffer_size_bytes, _memory_resource);
  }
  LLVMDSDL_NODISCARD inline std::int8_t deserialize(const std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes) {
    return BatteryStatus__deserialize_(this, buffer, inout_buffer_size_bytes, _memory_resource);
  }
  LLVMDSDL_NODISCARD static inline std::int8_t try_deserialize_view(const std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes, const std::uint8_t** out_view_bytes) {
    return BatteryStatus__try_deserialize_view_(buffer, inout_buffer_size_bytes, out_view_bytes);
  }
  LLVMDSDL_NODISCARD static inline std::int8_t try_serialize_view(const std::uint8_t* view_bytes, std::size_t view_size_bytes, std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes) {
    return BatteryStatus__try_serialize_view_(view_bytes, view_size_bytes, buffer, inout_buffer_size_bytes);
  }
  LLVMDSDL_NODISCARD inline std::int8_t serialize(std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes, ::llvmdsdl::cpp::MemoryResource* memory_resource) const {
    return BatteryStatus__serialize_(this, buffer, inout_buffer_size_bytes, memory_resource);
  }
  LLVMDSDL_NODISCARD inline std::int8_t deserialize(const std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes, ::llvmdsdl::cpp::MemoryResource* memory_resource) {
    return BatteryStatus__deserialize_(this, buffer, inout_buffer_size_bytes, memory_resource);
  }
};

C++ (autosar)¶

AUTOSAR C++14 subset profile.

// State of one battery pack, published at 2 Hz by the smart battery or
// power module.
// 
// LEAST SUPPORTED TRANSPORT: CAN FD.
// 
// VERSIONING: this definition replaces the polled LegacyBatteryPoll.1.0
// service, which is @deprecated. The change of shape -- from a service
// the flight controller had to poll to a message the pack publishes on
// its own -- is why this is a 2.0 and not a minor revision of anything.
// The deprecated service remains in the namespace so that both halves of
// a migration are visible.
struct BatteryStatus {
  // Moment the measurements were sampled.
  ::uavcan::time::SynchronizedTimestamp timestamp{};
  // Pack terminal voltage in volts.
  ::uavcan::si::unit::voltage::Scalar voltage{};
  // Pack current in amperes. Positive is discharge, negative is charge.
  ::uavcan::si::unit::electric_current::Scalar current{};
  // Hottest cell temperature in kelvin. Kelvin, not Celsius, because that
  // is the SI unit the standard type carries; using the standard type
  // means a generic consumer needs no per-vendor conversion, and the
  // arithmetic to display Celsius belongs in the display layer.
  ::uavcan::si::unit::temperature::Scalar temperature{};
  // State of charge, 0.0 (empty) to 1.0 (full).
  float remaining_capacity_ratio{};
  // Capacity of the pack when fully charged, in ampere-hours. Declines
  // over the pack's life, so a consumer computing endurance uses this
  // rather than the nameplate capacity.
  float full_charge_capacity_ah{};
  // Completed charge/discharge cycles, for maintenance scheduling.
  std::uint16_t cycle_count{};
  // Bit mask of active pack conditions.
  //   bit 0 - charging
  //   bit 1 - cell imbalance beyond threshold
  //   bit 2 - over-temperature
  //   bit 3 - under-voltage cutoff imminent
  //   bit 4 - pack requires service
  //   bits 5..7 - reserved, transmitted as zero
  std::uint8_t status_flags{};
  // Per-cell voltages in volts. The array length reports the pack's series
  // count, so one definition serves the 6S and 12S packs in the fleet and
  // the 24S pack on the heavy airframe.
  ::llvmdsdl::cpp::autosar::BoundedVector<float, 24U> cell_voltage{};
  static constexpr const char* FULL_NAME = "lanyard.health.BatteryStatus";
  static constexpr bool IS_DEPRECATED = false;
  static constexpr const char* FULL_NAME_AND_VERSION = "lanyard.health.BatteryStatus.2.0";
  static constexpr std::size_t EXTENT_BYTES = 128U;
  static constexpr std::size_t SERIALIZATION_BUFFER_SIZE_BYTES = 75U;
  static constexpr bool ZOH_ALIAS_ELIGIBLE = false;
  static constexpr const char* ZOH_ALIAS_REASON = "invalid-bit-length";
  static constexpr std::size_t CELL_VOLTAGE_ARRAY_CAPACITY = 24U;
  static constexpr bool CELL_VOLTAGE_ARRAY_IS_VARIABLE_LENGTH = true;
  LLVMDSDL_NODISCARD inline std::int8_t serialize(std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes) const {
    return BatteryStatus__serialize_(this, buffer, inout_buffer_size_bytes);
  }
  LLVMDSDL_NODISCARD inline std::int8_t deserialize(const std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes) {
    return BatteryStatus__deserialize_(this, buffer, inout_buffer_size_bytes);
  }
  LLVMDSDL_NODISCARD static inline std::int8_t try_deserialize_view(const std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes, const std::uint8_t** out_view_bytes) {
    return BatteryStatus__try_deserialize_view_(buffer, inout_buffer_size_bytes, out_view_bytes);
  }
  LLVMDSDL_NODISCARD static inline std::int8_t try_serialize_view(const std::uint8_t* view_bytes, std::size_t view_size_bytes, std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes) {
    return BatteryStatus__try_serialize_view_(view_bytes, view_size_bytes, buffer, inout_buffer_size_bytes);
  }
};

Rust (std)¶

/// State of one battery pack, published at 2 Hz by the smart battery or
/// power module.
/// 
/// LEAST SUPPORTED TRANSPORT: CAN FD.
/// 
/// VERSIONING: this definition replaces the polled LegacyBatteryPoll.1.0
/// service, which is @deprecated. The change of shape -- from a service
/// the flight controller had to poll to a message the pack publishes on
/// its own -- is why this is a 2.0 and not a minor revision of anything.
/// The deprecated service remains in the namespace so that both halves of
/// a migration are visible.
#[derive(Clone, Debug, PartialEq)]
pub struct lanyard_health_BatteryStatus_2_0 {
    /// Moment the measurements were sampled.
    pub timestamp: uavcan_time_SynchronizedTimestamp_1_0,
    /// Pack terminal voltage in volts.
    pub voltage: uavcan_si_unit_voltage_Scalar_1_0,
    /// Pack current in amperes. Positive is discharge, negative is charge.
    pub current: uavcan_si_unit_electric_current_Scalar_1_0,
    /// Hottest cell temperature in kelvin. Kelvin, not Celsius, because that
    /// is the SI unit the standard type carries; using the standard type
    /// means a generic consumer needs no per-vendor conversion, and the
    /// arithmetic to display Celsius belongs in the display layer.
    pub temperature: uavcan_si_unit_temperature_Scalar_1_0,
    /// State of charge, 0.0 (empty) to 1.0 (full).
    pub remaining_capacity_ratio: f32,
    /// Capacity of the pack when fully charged, in ampere-hours. Declines
    /// over the pack's life, so a consumer computing endurance uses this
    /// rather than the nameplate capacity.
    pub full_charge_capacity_ah: f32,
    /// Completed charge/discharge cycles, for maintenance scheduling.
    pub cycle_count: u16,
    /// Bit mask of active pack conditions.
    ///   bit 0 - charging
    ///   bit 1 - cell imbalance beyond threshold
    ///   bit 2 - over-temperature
    ///   bit 3 - under-voltage cutoff imminent
    ///   bit 4 - pack requires service
    ///   bits 5..7 - reserved, transmitted as zero
    pub status_flags: u8,
    /// Per-cell voltages in volts. The array length reports the pack's series
    /// count, so one definition serves the 6S and 12S packs in the fleet and
    /// the 24S pack on the heavy airframe.
    pub cell_voltage: crate::dsdl_runtime::DsdlVec<f32>,
}

Rust (no-std)¶

no_std + alloc profile, as a flight-controller firmware build would use.

/// State of one battery pack, published at 2 Hz by the smart battery or
/// power module.
/// 
/// LEAST SUPPORTED TRANSPORT: CAN FD.
/// 
/// VERSIONING: this definition replaces the polled LegacyBatteryPoll.1.0
/// service, which is @deprecated. The change of shape -- from a service
/// the flight controller had to poll to a message the pack publishes on
/// its own -- is why this is a 2.0 and not a minor revision of anything.
/// The deprecated service remains in the namespace so that both halves of
/// a migration are visible.
#[derive(Clone, Debug, PartialEq)]
pub struct lanyard_health_BatteryStatus_2_0 {
    /// Moment the measurements were sampled.
    pub timestamp: uavcan_time_SynchronizedTimestamp_1_0,
    /// Pack terminal voltage in volts.
    pub voltage: uavcan_si_unit_voltage_Scalar_1_0,
    /// Pack current in amperes. Positive is discharge, negative is charge.
    pub current: uavcan_si_unit_electric_current_Scalar_1_0,
    /// Hottest cell temperature in kelvin. Kelvin, not Celsius, because that
    /// is the SI unit the standard type carries; using the standard type
    /// means a generic consumer needs no per-vendor conversion, and the
    /// arithmetic to display Celsius belongs in the display layer.
    pub temperature: uavcan_si_unit_temperature_Scalar_1_0,
    /// State of charge, 0.0 (empty) to 1.0 (full).
    pub remaining_capacity_ratio: f32,
    /// Capacity of the pack when fully charged, in ampere-hours. Declines
    /// over the pack's life, so a consumer computing endurance uses this
    /// rather than the nameplate capacity.
    pub full_charge_capacity_ah: f32,
    /// Completed charge/discharge cycles, for maintenance scheduling.
    pub cycle_count: u16,
    /// Bit mask of active pack conditions.
    ///   bit 0 - charging
    ///   bit 1 - cell imbalance beyond threshold
    ///   bit 2 - over-temperature
    ///   bit 3 - under-voltage cutoff imminent
    ///   bit 4 - pack requires service
    ///   bits 5..7 - reserved, transmitted as zero
    pub status_flags: u8,
    /// Per-cell voltages in volts. The array length reports the pack's series
    /// count, so one definition serves the 6S and 12S packs in the fleet and
    /// the 24S pack on the heavy airframe.
    pub cell_voltage: crate::dsdl_runtime::DsdlVec<f32>,
}

Go¶

// State of one battery pack, published at 2 Hz by the smart battery or
// power module.
// 
// LEAST SUPPORTED TRANSPORT: CAN FD.
// 
// VERSIONING: this definition replaces the polled LegacyBatteryPoll.1.0
// service, which is @deprecated. The change of shape -- from a service
// the flight controller had to poll to a message the pack publishes on
// its own -- is why this is a 2.0 and not a minor revision of anything.
// The deprecated service remains in the namespace so that both halves of
// a migration are visible.
type BatteryStatus_2_0 struct {
  // Moment the measurements were sampled.
  Timestamp pkg_uavcan_time.SynchronizedTimestamp_1_0
  // Pack terminal voltage in volts.
  Voltage pkg_uavcan_si_unit_voltage.Scalar_1_0
  // Pack current in amperes. Positive is discharge, negative is charge.
  Current pkg_uavcan_si_unit_electric_current.Scalar_1_0
  // Hottest cell temperature in kelvin. Kelvin, not Celsius, because that
  // is the SI unit the standard type carries; using the standard type
  // means a generic consumer needs no per-vendor conversion, and the
  // arithmetic to display Celsius belongs in the display layer.
  Temperature pkg_uavcan_si_unit_temperature.Scalar_1_0
  // State of charge, 0.0 (empty) to 1.0 (full).
  RemainingCapacityRatio float32
  // Capacity of the pack when fully charged, in ampere-hours. Declines
  // over the pack's life, so a consumer computing endurance uses this
  // rather than the nameplate capacity.
  FullChargeCapacityAh float32
  // Completed charge/discharge cycles, for maintenance scheduling.
  CycleCount uint16
  // Bit mask of active pack conditions.
  //   bit 0 - charging
  //   bit 1 - cell imbalance beyond threshold
  //   bit 2 - over-temperature
  //   bit 3 - under-voltage cutoff imminent
  //   bit 4 - pack requires service
  //   bits 5..7 - reserved, transmitted as zero
  StatusFlags uint8
  // Per-cell voltages in volts. The array length reports the pack's series
  // count, so one definition serves the 6S and 12S packs in the fleet and
  // the 24S pack on the heavy airframe.
  CellVoltage []float32
}

TypeScript¶

// State of one battery pack, published at 2 Hz by the smart battery or
// power module.
// 
// LEAST SUPPORTED TRANSPORT: CAN FD.
// 
// VERSIONING: this definition replaces the polled LegacyBatteryPoll.1.0
// service, which is @deprecated. The change of shape -- from a service
// the flight controller had to poll to a message the pack publishes on
// its own -- is why this is a 2.0 and not a minor revision of anything.
// The deprecated service remains in the namespace so that both halves of
// a migration are visible.
export interface BatteryStatus_2_0 {
  // Moment the measurements were sampled.
  timestamp: SynchronizedTimestamp_1_0;
  // Pack terminal voltage in volts.
  voltage: Scalar_1_0__uavcan_si_unit_voltage;
  // Pack current in amperes. Positive is discharge, negative is charge.
  current: Scalar_1_0__uavcan_si_unit_electric_current;
  // Hottest cell temperature in kelvin. Kelvin, not Celsius, because that
  // is the SI unit the standard type carries; using the standard type
  // means a generic consumer needs no per-vendor conversion, and the
  // arithmetic to display Celsius belongs in the display layer.
  temperature: Scalar_1_0__uavcan_si_unit_temperature;
  // State of charge, 0.0 (empty) to 1.0 (full).
  remaining_capacity_ratio: number;
  // Capacity of the pack when fully charged, in ampere-hours. Declines
  // over the pack's life, so a consumer computing endurance uses this
  // rather than the nameplate capacity.
  full_charge_capacity_ah: number;
  // Completed charge/discharge cycles, for maintenance scheduling.
  cycle_count: number;
  // Bit mask of active pack conditions.
  //   bit 0 - charging
  //   bit 1 - cell imbalance beyond threshold
  //   bit 2 - over-temperature
  //   bit 3 - under-voltage cutoff imminent
  //   bit 4 - pack requires service
  //   bits 5..7 - reserved, transmitted as zero
  status_flags: number;
  // Per-cell voltages in volts. The array length reports the pack's series
  // count, so one definition serves the 6S and 12S packs in the fleet and
  // the 24S pack on the heavy airframe.
  cell_voltage: Array<number>;
}

Python¶

# State of one battery pack, published at 2 Hz by the smart battery or
# power module.
# 
# LEAST SUPPORTED TRANSPORT: CAN FD.
# 
# VERSIONING: this definition replaces the polled LegacyBatteryPoll.1.0
# service, which is @deprecated. The change of shape -- from a service
# the flight controller had to poll to a message the pack publishes on
# its own -- is why this is a 2.0 and not a minor revision of anything.
# The deprecated service remains in the namespace so that both halves of
# a migration are visible.
@dataclass(slots=True)
class BatteryStatus_2_0:
    # Moment the measurements were sampled.
    timestamp: SynchronizedTimestamp_1_0 = field(default_factory=SynchronizedTimestamp_1_0)
    # Pack terminal voltage in volts.
    voltage: Scalar_1_0 = field(default_factory=Scalar_1_0)
    # Pack current in amperes. Positive is discharge, negative is charge.
    current: Scalar_1_0 = field(default_factory=Scalar_1_0)
    # Hottest cell temperature in kelvin. Kelvin, not Celsius, because that
    # is the SI unit the standard type carries; using the standard type
    # means a generic consumer needs no per-vendor conversion, and the
    # arithmetic to display Celsius belongs in the display layer.
    temperature: Scalar_1_0 = field(default_factory=Scalar_1_0)
    # State of charge, 0.0 (empty) to 1.0 (full).
    remaining_capacity_ratio: float = 0.0
    # Capacity of the pack when fully charged, in ampere-hours. Declines
    # over the pack's life, so a consumer computing endurance uses this
    # rather than the nameplate capacity.
    full_charge_capacity_ah: float = 0.0
    # Completed charge/discharge cycles, for maintenance scheduling.
    cycle_count: int = 0
    # Bit mask of active pack conditions.
    #   bit 0 - charging
    #   bit 1 - cell imbalance beyond threshold
    #   bit 2 - over-temperature
    #   bit 3 - under-voltage cutoff imminent
    #   bit 4 - pack requires service
    #   bits 5..7 - reserved, transmitted as zero
    status_flags: int = 0
    # Per-cell voltages in volts. The array length reports the pack's series
    # count, so one definition serves the 6S and 12S packs in the fleet and
    # the 24S pack on the heavy airframe.
    cell_voltage: list[float] = field(default_factory=list)

---

Every build recipe compiles this definition along with the rest of the namespace.