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feature(battery): BATTERY_STATUS_V2 integration #14269

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c75943a
Add support for BATTERY_STATUS_V2 and BATTERY_INFO
hamishwillee Apr 8, 2026
711e8d2
Fix Battery_status_v2 display
hamishwillee Apr 8, 2026
103e03b
Update to enable/disable battery status messages to use latest
hamishwillee Apr 8, 2026
86e70e9
Battery V2: derive LOW/CRITICAL from percentRemaining; remove dead _n…
hamishwillee Apr 11, 2026
27725f7
Fix const qualifier on BatteryIndicatorSettings pointer
hamishwillee Apr 11, 2026
3ec8467
Battery V2: fix LOW/CRITICAL threshold derivation
hamishwillee Apr 11, 2026
07efa68
Battery V2: fix component-ID scoping, string safety, extract shared h…
hamishwillee Apr 11, 2026
85243b7
Battery: fix _announceBatteryChargeState map initialisation
hamishwillee Apr 11, 2026
788736f
Battery V2: activate V2 on any autopilot V2 frame, not just in Reques…
hamishwillee Apr 12, 2026
b3eba95
Battery V2: scope V2 audio alerts to autopilot compid; fix voltage un…
hamishwillee Apr 12, 2026
7fed47a
Battery facts: use uppercase V for all voltage units; add Vehicle for…
hamishwillee Apr 12, 2026
45f51b0
Battery V1: scope audio alerts to autopilot compid; matches V2 handler
hamishwillee Apr 13, 2026
380e8c7
Battery V2: fix BATTERY_INFO not requested when V2 activates before i…
hamishwillee Apr 13, 2026
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1 change: 1 addition & 0 deletions src/Camera/MavlinkCameraControlInterface.h
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Original file line number Diff line number Diff line change
Expand Up @@ -250,6 +250,7 @@ class MavlinkCameraControlInterface : public FactGroup
virtual bool validateParameter(Fact *pFact, QVariant &newValue) = 0; ///< Allow controller to modify or invalidate parameter change

virtual void handleBatteryStatus(const mavlink_battery_status_t &bs) = 0;
virtual void handleBatteryStatusV2(const mavlink_battery_status_v2_t &bs) = 0;
virtual void handleCameraCaptureStatus(const mavlink_camera_capture_status_t &cameraCaptureStatus) = 0;
virtual void handleParamExtAck(const mavlink_param_ext_ack_t &paramExtAck) = 0;
virtual void handleParamExtValue(const mavlink_param_ext_value_t &paramExtValue) = 0;
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13 changes: 13 additions & 0 deletions src/Camera/QGCCameraManager.cc
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Expand Up @@ -185,6 +185,9 @@ void QGCCameraManager::_mavlinkMessageReceived(const mavlink_message_t &message)
case MAVLINK_MSG_ID_BATTERY_STATUS:
_handleBatteryStatus(message);
break;
case MAVLINK_MSG_ID_BATTERY_STATUS_V2:
_handleBatteryStatusV2(message);
break;
case MAVLINK_MSG_ID_CAMERA_TRACKING_IMAGE_STATUS:
_handleTrackingImageStatus(message);
break;
Expand Down Expand Up @@ -492,6 +495,16 @@ void QGCCameraManager::_handleBatteryStatus(const mavlink_message_t &message)
}
}

void QGCCameraManager::_handleBatteryStatusV2(const mavlink_message_t &message)
{
MavlinkCameraControlInterface *pCamera = _findCamera(message.compid);
if (pCamera) {
mavlink_battery_status_v2_t bs{};
mavlink_msg_battery_status_v2_decode(&message, &bs);
pCamera->handleBatteryStatusV2(bs);
}
}

void QGCCameraManager::_handleTrackingImageStatus(const mavlink_message_t &message)
{
MavlinkCameraControlInterface *pCamera = _findCamera(message.compid);
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1 change: 1 addition & 0 deletions src/Camera/QGCCameraManager.h
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Expand Up @@ -125,6 +125,7 @@ private slots:
void _handleVideoStreamInformation(const mavlink_message_t& message);
void _handleVideoStreamStatus(const mavlink_message_t& message);
void _handleBatteryStatus(const mavlink_message_t& message);
void _handleBatteryStatusV2(const mavlink_message_t& message);
void _handleTrackingImageStatus(const mavlink_message_t& message);
void _addCameraControlToLists(MavlinkCameraControlInterface* cameraControl);
void _handleCameraFovStatus(const mavlink_message_t& message);
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1 change: 1 addition & 0 deletions src/Camera/SimulatedCameraControl.h
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Expand Up @@ -118,6 +118,7 @@ class SimulatedCameraControl : public MavlinkCameraControlInterface
bool validateParameter(Fact* /*pFact*/, QVariant& /*newValue*/) override { return false; }

void handleBatteryStatus(const mavlink_battery_status_t& /*bs*/) override {}
void handleBatteryStatusV2(const mavlink_battery_status_v2_t& /*bs*/) override {}
void handleCameraCaptureStatus(const mavlink_camera_capture_status_t& /*cameraCaptureStatus*/) override {}
void handleParamExtAck(const mavlink_param_ext_ack_t& /*paramExtAck*/) override {}
void handleParamExtValue(const mavlink_param_ext_value_t& /*paramExtValue*/) override {}
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11 changes: 11 additions & 0 deletions src/Camera/VehicleCameraControl.cc
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Expand Up @@ -1568,6 +1568,17 @@ void VehicleCameraControl::handleBatteryStatus(const mavlink_battery_status_t& b
}
}

void VehicleCameraControl::handleBatteryStatusV2(const mavlink_battery_status_v2_t& bs)
{
qCDebug(CameraControlLog).noquote() << "Received BATTERY_STATUS_V2:"
<< "\n\tBattery remaining (%):" << bs.percent_remaining;

if (bs.percent_remaining != UINT8_MAX && _batteryRemaining != static_cast<int>(bs.percent_remaining)) {
_batteryRemaining = static_cast<int>(bs.percent_remaining);
emit batteryRemainingChanged();
}
}

void VehicleCameraControl::handleCameraCaptureStatus(const mavlink_camera_capture_status_t& cameraCaptureStatus)
{
qCDebug(CameraControlLog).noquote() << "Received CAMERA_CAPTURE_STATUS - stopping timer, resetting retries:"
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3 changes: 2 additions & 1 deletion src/Camera/VehicleCameraControl.h
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Expand Up @@ -122,7 +122,8 @@ class VehicleCameraControl : public MavlinkCameraControlInterface
virtual void handleParamExtAck (const mavlink_param_ext_ack_t& paramExtAck);
virtual void handleParamExtValue (const mavlink_param_ext_value_t& paramExtValue);
virtual void handleStorageInformation(const mavlink_storage_information_t& storageInformation);
virtual void handleBatteryStatus (const mavlink_battery_status_t& bs);
virtual void handleBatteryStatus (const mavlink_battery_status_t& bs);
virtual void handleBatteryStatusV2 (const mavlink_battery_status_v2_t& bs);
virtual void handleTrackingImageStatus(const mavlink_camera_tracking_image_status_t &trackingImageStatus);
virtual void handleVideoStreamInformation(const mavlink_video_stream_information_t &videoStreamInformation);
virtual void handleVideoStreamStatus(const mavlink_video_stream_status_t &videoStreamStatus);
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4 changes: 3 additions & 1 deletion src/FactSystem/FactGroupListModel.h
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,8 @@

#include <QList>

class Vehicle;

/// Dynamically manages FactGroupWithIds based on incoming messages.
class FactGroupListModel : public QmlObjectListModel
{
Expand All @@ -17,7 +19,7 @@ class FactGroupListModel : public QmlObjectListModel
explicit FactGroupListModel(const char* factGroupNamePrefix, QObject* parent = nullptr);

/// Allows for creation/updating of dynamic FactGroups based on incoming messages
void handleMessageForFactGroupCreation(Vehicle *vehicle, const mavlink_message_t &message);
virtual void handleMessageForFactGroupCreation(Vehicle *vehicle, const mavlink_message_t &message);

protected:
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virtual bool _shouldHandleMessage(const mavlink_message_t &message, QList<uint32_t> &ids) const = 0;
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131 changes: 130 additions & 1 deletion src/Vehicle/FactGroups/BatteryFact.json
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Expand Up @@ -29,7 +29,7 @@
"shortDesc": "Voltage",
"type": "double",
"decimalPlaces": 2,
"units": "v"
"units": "V"
},
{
"name": "percentRemaining",
Expand Down Expand Up @@ -85,6 +85,135 @@
"enumStrings": "n/a,Ok,Low,Critical,Emergency,Failed,Unhealthy,Charging",
"enumValues": "0,1,2,3,4,5,6,7",
"decimalPlaces": 0
},
{
"name": "capacityRemaining",
"shortDesc": "Capacity Remaining",
"type": "double",
"decimalPlaces": 2,
"units": "Ah"
},
{
"name": "capacityRemainingIsInferred",
"shortDesc": "Capacity Remaining Is Inferred",
"type": "bool"
},
{
"name": "statusFlags",
"shortDesc": "Status Flags",
"type": "uint32",
"decimalPlaces": 0
},
{
"name": "batteryName",
"shortDesc": "Battery Name",
"type": "string"
},
{
"name": "serialNumber",
"shortDesc": "Serial Number",
"type": "string"
},
{
"name": "manufactureDate",
"shortDesc": "Manufacture Date",
"type": "string"
},
{
"name": "fullChargeCapacity",
"shortDesc": "Full Charge Capacity",
"type": "double",
"decimalPlaces": 2,
"units": "Ah"
},
{
"name": "designCapacity",
"shortDesc": "Design Capacity",
"type": "double",
"decimalPlaces": 2,
"units": "Ah"
},
{
"name": "nominalVoltage",
"shortDesc": "Nominal Voltage",
"type": "double",
"decimalPlaces": 2,
"units": "V"
},
{
"name": "dischargeMinimumVoltage",
"shortDesc": "Discharge Min Voltage",
"type": "double",
"decimalPlaces": 2,
"units": "V"
},
{
"name": "chargingMinimumVoltage",
"shortDesc": "Charging Min Voltage",
"type": "double",
"decimalPlaces": 2,
"units": "V"
},
{
"name": "restingMinimumVoltage",
"shortDesc": "Resting Min Voltage",
"type": "double",
"decimalPlaces": 2,
"units": "V"
},
{
"name": "chargingMaximumVoltage",
"shortDesc": "Charging Max Voltage",
"type": "double",
"decimalPlaces": 2,
"units": "V"
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},
{
"name": "chargingMaximumCurrent",
"shortDesc": "Charging Max Current",
"type": "double",
"decimalPlaces": 2,
"units": "A"
},
{
"name": "dischargeMaximumCurrent",
"shortDesc": "Discharge Max Current",
"type": "double",
"decimalPlaces": 2,
"units": "A"
},
{
"name": "dischargeMaximumBurstCurrent",
"shortDesc": "Discharge Max Burst Current",
"type": "double",
"decimalPlaces": 2,
"units": "A"
},
{
"name": "cycleCount",
"shortDesc": "Cycle Count",
"type": "double",
"decimalPlaces": 0
},
{
"name": "weight",
"shortDesc": "Weight",
"type": "double",
"decimalPlaces": 0,
"units": "g"
},
{
"name": "stateOfHealth",
"shortDesc": "State of Health",
"type": "double",
"decimalPlaces": 0,
"units": "%"
},
{
"name": "cellsInSeries",
"shortDesc": "Cells In Series",
"type": "double",
"decimalPlaces": 0
}
]
}
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