battery_status: remove unused smart battery mode

PX4 · Jul 30, 2024 · ba57924 · ba57924
1 parent a18c18e
commit ba57924
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Showing 4 changed files with 10 additions and 80 deletions.
diff --git a/msg/BatteryStatus.msg b/msg/BatteryStatus.msg
@@ -55,13 +55,6 @@ uint8 BATTERY_FAULT_COUNT = 11 # Counter - keep it as last element!
 
 uint16 faults		# Smart battery supply status/fault flags (bitmask) for health indication.
 uint8 warning		# Current battery warning
-uint8 mode 		# Battery mode. Note, the normal operation mode
-
-uint8 BATTERY_MODE_UNKNOWN = 0 # Battery does not support a mode, or if it does, is operational
-uint8 BATTERY_MODE_AUTO_DISCHARGING = 1 # Battery is auto discharging (towards storage level)
-uint8 BATTERY_MODE_HOT_SWAP = 2 # Battery in hot-swap mode
-uint8 BATTERY_MODE_COUNT = 3 # Counter - keep it as last element (once we're fully migrated to events interface we can just comment this)!
-
 
 uint8 MAX_INSTANCES = 4
 

diff --git a/src/lib/events/enums.json b/src/lib/events/enums.json
@@ -660,24 +660,6 @@
                         }
                     }
                 },
-                "battery_mode_t": {
-                    "type": "uint8_t",
-                    "description": "Smart battery modes of operation",
-                    "entries": {
-                        "0": {
-                            "name": "unknown",
-                            "description": "unknown"
-                        },
-                        "1": {
-                            "name": "autodischarging",
-                            "description": "auto discharging towards storage level"
-                        },
-                        "2": {
-                            "name": "hotswap",
-                            "description": "hot-swap"
-                        }
-                    }
-                },
                 "esc_fault_reason_t": {
                     "type": "uint8_t",
                     "description": "Bitfield for ESC failure reason",

diff --git a/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp
@@ -72,22 +72,6 @@ static constexpr const char *battery_fault_reason_str(battery_fault_reason_t bat
 	return "";
 };
 
-
-using battery_mode_t = events::px4::enums::battery_mode_t;
-static_assert(battery_status_s::BATTERY_MODE_COUNT == (static_cast<uint8_t>(battery_mode_t::_max) + 1)
-	      , "Battery mode flags mismatch!");
-static constexpr const char *battery_mode_str(battery_mode_t battery_mode)
-{
-	switch (battery_mode) {
-	case battery_mode_t::autodischarging: return "auto discharging";
-
-	case battery_mode_t::hotswap: return "hot-swap";
-
-	default: return "unknown";
-	}
-}
-
-
 void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
 {
 	if (circuit_breaker_enabled_by_val(_param_cbrk_supply_chk.get(), CBRK_SUPPLY_CHK_KEY)) {
@@ -133,34 +117,18 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
 			_battery_connected_at_arming[index] = battery.connected;
 		}
 
-		if (context.isArmed()) {
-
-			if (!battery.connected && _battery_connected_at_arming[index]) { // If disconnected after arming
-				/* EVENT
-				 */
-				reporter.healthFailure<uint8_t>(NavModes::All, health_component_t::battery, events::ID("check_battery_disconnected"),
-								events::Log::Emergency, "Battery {1} disconnected", index + 1);
-
-				if (reporter.mavlink_log_pub()) {
-					mavlink_log_critical(reporter.mavlink_log_pub(), "Battery %i disconnected\t", index + 1);
-				}
+		if (context.isArmed() && !battery.connected && _battery_connected_at_arming[index]) { // If disconnected after arming
+			/* EVENT
+			 */
+			reporter.healthFailure<uint8_t>(NavModes::All, health_component_t::battery, events::ID("check_battery_disconnected"),
+							events::Log::Emergency, "Battery {1} disconnected", index + 1);
 
-				// trigger a battery failsafe action if a battery disconnects in flight
-				worst_warning = battery_status_s::BATTERY_WARNING_CRITICAL;
+			if (reporter.mavlink_log_pub()) {
+				mavlink_log_critical(reporter.mavlink_log_pub(), "Battery %i disconnected\t", index + 1);
 			}
 
-			if (battery.mode != 0) {
-				/* EVENT
-				 */
-				reporter.healthFailure<uint8_t, events::px4::enums::battery_mode_t>(NavModes::All, health_component_t::battery,
-						events::ID("check_battery_mode"),
-						events::Log::Critical, "Battery {1} mode: {2}", index + 1, static_cast<battery_mode_t>(battery.mode));
-
-				if (reporter.mavlink_log_pub()) {
-					mavlink_log_critical(reporter.mavlink_log_pub(), "Battery %d is in %s mode!\t", index + 1,
-							     battery_mode_str(static_cast<battery_mode_t>(battery.mode)));
-				}
-			}
+			// trigger a battery failsafe action if a battery disconnects in flight
+			worst_warning = battery_status_s::BATTERY_WARNING_CRITICAL;
 		}
 
 		if (battery.connected) {

diff --git a/src/modules/mavlink/streams/BATTERY_STATUS.hpp b/src/modules/mavlink/streams/BATTERY_STATUS.hpp
@@ -114,20 +114,7 @@ class MavlinkStreamBatteryStatus : public MavlinkStream
 					break;
 				}
 
-				switch (battery_status.mode) {
-				case (battery_status_s::BATTERY_MODE_AUTO_DISCHARGING):
-					bat_msg.mode = MAV_BATTERY_MODE_AUTO_DISCHARGING;
-					break;
-
-				case (battery_status_s::BATTERY_MODE_HOT_SWAP):
-					bat_msg.mode = MAV_BATTERY_MODE_HOT_SWAP;
-					break;
-
-				default:
-					bat_msg.mode = MAV_BATTERY_MODE_UNKNOWN;
-					break;
-				}
-
+				bat_msg.mode = MAV_BATTERY_MODE_UNKNOWN;
 				bat_msg.fault_bitmask = battery_status.faults;
 
 				// check if temperature valid