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fix(battery): copy vehicle status states at central place to avoid logic not executed due to previous read #27046

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Merged
mrpollo merged 1 commit into from
Apr 10, 2026
+7 −15
Merged

fix(battery): copy vehicle status states at central place to avoid logic not executed due to previous read #27046

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21 changes: 6 additions & 15 deletions src/lib/battery/battery.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -159,6 +159,7 @@ void Battery::updateBatteryStatus(const hrt_abstime &timestamp)

if (_vehicle_status_sub.copy(&vehicle_status)) {
_armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
_vehicle_status_is_fw = (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING);
}
}
}
Expand Down Expand Up @@ -370,29 +371,19 @@ void Battery::computeScale()
float Battery::computeRemainingTime(float current_a)
{
float time_remaining_s = NAN;
bool reset_current_avg_filter = false;

if (_vehicle_status_sub.updated()) {
vehicle_status_s vehicle_status;

if (_vehicle_status_sub.copy(&vehicle_status)) {

if (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING && !_vehicle_status_is_fw) {
reset_current_avg_filter = true;
}

_vehicle_status_is_fw = (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING);
}
}

_flight_phase_estimation_sub.update();

bool reset_filter_transition_now = !_vehicle_status_was_fw && _vehicle_status_is_fw;

// reset filter if not feasible, negative or we did a VTOL transition to FW mode
if (!PX4_ISFINITE(_current_average_filter_a.getState()) || _current_average_filter_a.getState() < FLT_EPSILON
|| reset_current_avg_filter) {
|| reset_filter_transition_now) {
_current_average_filter_a.reset(_params.bat_avrg_current);
}

_vehicle_status_was_fw = _vehicle_status_is_fw;

if (_armed && PX4_ISFINITE(current_a)) {
// For FW only update when we are in level flight
if (!_vehicle_status_is_fw || ((hrt_absolute_time() - _flight_phase_estimation_sub.get().timestamp) < 2_s
Expand Down
1 change: 1 addition & 0 deletions src/lib/battery/battery.h
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Expand Up @@ -202,6 +202,7 @@ class Battery : public ModuleParams
hrt_abstime _last_timestamp{0};
bool _armed{false};
bool _vehicle_status_is_fw{false};
bool _vehicle_status_was_fw{false};
hrt_abstime _last_unconnected_timestamp{0};

// Internal Resistance estimation
Expand Down
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