GCS_MAVLink: report battery soh

ArduPilot · Jan 8, 2024 · 0a6fab4 · 0a6fab4
1 parent 895012f
commit 0a6fab4
Showing 1 changed file with 6 additions and 1 deletion.
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -346,6 +346,10 @@ void GCS_MAVLINK::send_battery_status(const uint8_t instance) const
         time_remaining = 0;
     }
 
+    uint8_t state_of_health_pct;
+    if (!battery.get_state_of_health_pct(instance, state_of_health_pct)) {
+        state_of_health_pct = 0;
+    }
     mavlink_msg_battery_status_send(chan,
                                     instance, // id
                                     MAV_BATTERY_FUNCTION_UNKNOWN, // function
@@ -360,7 +364,8 @@ void GCS_MAVLINK::send_battery_status(const uint8_t instance) const
                                     battery.get_mavlink_charge_state(instance), // battery charge state
                                     cell_mvolts_ext, // Cell 11..14 voltages
                                     0, // battery mode
-                                    battery.get_mavlink_fault_bitmask(instance));   // fault_bitmask
+                                    battery.get_mavlink_fault_bitmask(instance), // fault_bitmask
+                                    state_of_health_pct); // state of health
 }
 
 // returns true if all battery instances were reported