SITL: add System Power Simulator to simulate SystemPower.msg #24138
+255
−4
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
The simulated battery is published by the regular battery class. Signed-off-by: Silvan Fuhrer <[email protected]>
Signed-off-by: Silvan Fuhrer <[email protected]>
This allows us to run battery failsafe tests again in SITL wihtout having to change params first. Signed-off-by: Silvan Fuhrer <[email protected]>
dagar
approved these changes
Dec 20, 2024
MaEtUgR
approved these changes
Dec 20, 2024
There was a problem hiding this comment.
Nice! That also annoyed me recently and I feel guilty because I added back the battery under the power circuit breaker. It was in there but I think the system power checks were skipped hardcoded before which was good to remove.
I find it wrong that CBRK_SUPPLY_CHK does two things: set if you don't care about battery info AND about system power.
I totally agree, that's why I planned to split the circuit breakers instead of simulating the system power topic 🏃
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Solved Problem
I got annoyed that every time I want to test something battery related, I have to manually unset
CBRK_SUPPLY_CHK- which is set by default for all SITLs due to us not simulating the SystemPower.msg.Solution
Add new module (only sim) to simulate and publish SystemPower.msg. Doesn't do anything fancy atm, just sends "all good" such that Commander doesn't freak out also without
CBRK_SUPPLY_CHKset.Maybe there would have been a more light-weight solution than adding a whole new module, but it's also nice to have the system_power simulation on the same level as the sensors (in the end it's also just a sensor)
Changelog Entry
For release notes:
Alternatives
I find it wrong that CBRK_SUPPLY_CHK does two things: set if you don't care about battery info AND about system power. Given that they have different sources (different sensors) I would propose splitting it up. And then we could for all our SITLs set it such that "don't care about system power, do care about battery info".