From 1d7b31716c896d4bc7fc9c91aad0fe2ae5d26bbf Mon Sep 17 00:00:00 2001
From: air <30444667+sszdot@users.noreply.github.com>
Date: Wed, 18 Jun 2025 20:14:39 +0800
Subject: [PATCH] =?UTF-8?q?=E3=80=90=E7=B1=BB=20=20=E5=9E=8B=E3=80=91?=
 =?UTF-8?q?=EF=BC=9Afix=20=E3=80=90=E5=8E=9F=20=20=E5=9B=A0=E3=80=91?=
 =?UTF-8?q?=EF=BC=9Amavlink=E6=8B=BF=E7=9A=84=E9=A3=9E=E6=8E=A7=E7=94=B5?=
 =?UTF-8?q?=E5=8E=8B=20=E6=95=B0=E6=8D=AE=E7=B1=BB=E5=9E=8B=E6=98=AFint=5F?=
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 =?UTF-8?q?=E8=BF=87=20=20=E7=A8=8B=E3=80=91=EF=BC=9A=E6=94=B9=E7=94=A8cas?=
 =?UTF-8?q?e=20MAVLINK=5FMSG=5FID=5FBATTERY=5FSTATUS:=20//=20#147:=20?=
 =?UTF-8?q?=E9=AB=98=E5=8E=8B/=E5=A4=9A=E7=94=B5=E8=8A=AF=E7=94=B5?=
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---
 src/commser.cpp | 34 ++++++++++++++++++++++++++++------
 1 file changed, 28 insertions(+), 6 deletions(-)

diff --git a/src/commser.cpp b/src/commser.cpp
index bf7cccf..8bbc5cb 100644
--- a/src/commser.cpp
+++ b/src/commser.cpp
@@ -721,12 +721,12 @@ void mavlink_receiveCallback(uint8_t c)
     {
       mavlink_sys_status_t sys_status;                  // 解构的数据放到这个对象
       mavlink_msg_sys_status_decode(&msg, &sys_status); // 解构msg数据
-      // 电压
-      sprintf(buf, "%.2f", (double)sys_status.voltage_battery / 1000);
-      if (topicPubMsg[1] != buf)
-      { // 有更新 则更新数据
-        topicPubMsg[1] = buf;
-      }
+      // // 电压
+      // sprintf(buf, "%.2f", (double)sys_status.voltage_battery / 1000);
+      // if (topicPubMsg[1] != buf)
+      // { // 有更新 则更新数据
+      //   topicPubMsg[1] = buf;
+      // }
       // 电流
       sprintf(buf, "%.2f", (double)sys_status.current_battery / 100); // 解构中 1=10毫安  所以这里/100 最终单位是A 安培
       if (topicPubMsg[2] != buf)
@@ -742,6 +742,28 @@ void mavlink_receiveCallback(uint8_t c)
     }
     break;
 
+    case MAVLINK_MSG_ID_BATTERY_STATUS: // #147: 高压/多电芯电池状态
+    {
+      mavlink_battery_status_t battery_status;
+      mavlink_msg_battery_status_decode(&msg, &battery_status);
+
+      float total_voltage = 0.0f;
+      for (int i = 0; i < 10; ++i)
+      {
+        if (battery_status.voltages[i] != UINT16_MAX)
+        {                                                        // 65535表示无效
+          total_voltage += battery_status.voltages[i] / 1000.0f; // 转换成 V
+        }
+      }
+
+      sprintf(buf, "%.2f", total_voltage); // 转成字符串
+      if (topicPubMsg[1] != buf)
+      {
+        topicPubMsg[1] = buf; // 更新电压显示
+      }
+    }
+    break;
+
     case MAVLINK_MSG_ID_RAW_IMU: // #27: RAW_IMU
     {
       mavlink_raw_imu_t raw_imu;