sensor_msgs::BatteryState percentage with a negative value #1284

FaboNo · 2019-07-27T22:58:13Z

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to report bugs or request features.

Issue details

Please describe the problem, or desired feature
When I am reading the battery status (/mavros/battery -- see below) I noticed that the percentage value is always small and negative. However in the documentation this value should be between 0 and 1. Can you tell me what is missing? Thank you

  seq: 216
  stamp: 
    secs: 1528206242
    nsecs: 464688044
  frame_id: ''
voltage: 65.5350036621
current: 0.00999999977648
charge: nan
capacity: nan
design_capacity: nan
percentage: -0.00999999977648
power_supply_status: 2
power_supply_health: 0
power_supply_technology: 3
present: True
cell_voltage: []
location: "id0"
serial_number: ''
---
header: 
  seq: 217
  stamp: 
    secs: 1528206242
    nsecs: 665512459
  frame_id: ''
voltage: 65.5350036621
current: 0.00999999977648
charge: nan
capacity: nan
design_capacity: nan
percentage: -0.00999999977648
power_supply_status: 2
power_supply_health: 0
power_supply_technology: 3
present: True
cell_voltage: []
location: "id0"
serial_number: ''

I added a screenshot of the px4 parameters associated with the battery in case I missed something?

MAVROS version and platform

Mavros: ?0.18.4?
ROS: ?Kinetic?
Ubuntu: ?16.04?

Autopilot type and version

[ ] ArduPilot
[ x ] PX4

Version: ?3.7.1?

Node logs

copy output of mavros_node. Usually console where you run roslaunch

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /mavros/cmd/use_comp_id_system_control: False
 * /mavros/conn/heartbeat_rate: 1.0
 * /mavros/conn/system_time_rate: 0.0
 * /mavros/conn/timeout: 10.0
 * /mavros/conn/timesync_rate: 0.0
 * /mavros/distance_sensor/rangefinder_pub/field_of_view: 0.0
 * /mavros/distance_sensor/rangefinder_pub/frame_id: lidar
 * /mavros/distance_sensor/rangefinder_pub/id: 0
 * /mavros/distance_sensor/rangefinder_pub/send_tf: False
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/rangefinder_sub/id: 1
 * /mavros/distance_sensor/rangefinder_sub/orientation: PITCH_270
 * /mavros/distance_sensor/rangefinder_sub/subscriber: True
 * /mavros/fake_gps/eph: 2.0
 * /mavros/fake_gps/epv: 2.0
 * /mavros/fake_gps/fix_type: 3
 * /mavros/fake_gps/geo_origin/alt: 408.0
 * /mavros/fake_gps/geo_origin/lat: 47.3667
 * /mavros/fake_gps/geo_origin/lon: 8.55
 * /mavros/fake_gps/gps_rate: 5.0
 * /mavros/fake_gps/mocap_transform: True
 * /mavros/fake_gps/satellites_visible: 5
 * /mavros/fake_gps/tf/child_frame_id: fix
 * /mavros/fake_gps/tf/frame_id: map
 * /mavros/fake_gps/tf/listen: False
 * /mavros/fake_gps/tf/rate_limit: 10.0
 * /mavros/fake_gps/tf/send: False
 * /mavros/fake_gps/use_mocap: True
 * /mavros/fake_gps/use_vision: False
 * /mavros/fcu_protocol: v2.0
 * /mavros/fcu_url: /dev/ttyPIXEXT:92...
 * /mavros/gcs_url: 
 * /mavros/global_position/child_frame_id: base_link
 * /mavros/global_position/frame_id: map
 * /mavros/global_position/rot_covariance: 99999.0
 * /mavros/global_position/tf/child_frame_id: base_link
 * /mavros/global_position/tf/frame_id: map
 * /mavros/global_position/tf/global_frame_id: earth
 * /mavros/global_position/tf/send: False
 * /mavros/global_position/use_relative_alt: True
 * /mavros/image/frame_id: px4flow
 * /mavros/imu/angular_velocity_stdev: 0.000349065850399
 * /mavros/imu/frame_id: base_link
 * /mavros/imu/linear_acceleration_stdev: 0.0003
 * /mavros/imu/magnetic_stdev: 0.0
 * /mavros/imu/orientation_stdev: 1.0
 * /mavros/local_position/frame_id: map
 * /mavros/local_position/tf/child_frame_id: base_link
 * /mavros/local_position/tf/frame_id: map
 * /mavros/local_position/tf/send: False
 * /mavros/local_position/tf/send_fcu: False
 * /mavros/mission/pull_after_gcs: True
 * /mavros/mocap/use_pose: True
 * /mavros/mocap/use_tf: False
 * /mavros/odometry/estimator_type: 3
 * /mavros/odometry/frame_tf/desired_frame: ned
 * /mavros/plugin_blacklist: ['actuator_contro...
 * /mavros/plugin_whitelist: []
 * /mavros/px4flow/frame_id: px4flow
 * /mavros/px4flow/ranger_fov: 0.118682389136
 * /mavros/px4flow/ranger_max_range: 5.0
 * /mavros/px4flow/ranger_min_range: 0.3
 * /mavros/safety_area/p1/x: 1.0
 * /mavros/safety_area/p1/y: 1.0
 * /mavros/safety_area/p1/z: 1.0
 * /mavros/safety_area/p2/x: -1.0
 * /mavros/safety_area/p2/y: -1.0
 * /mavros/safety_area/p2/z: -1.0
 * /mavros/setpoint_accel/send_force: False
 * /mavros/setpoint_attitude/reverse_thrust: False
 * /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /mavros/setpoint_attitude/tf/frame_id: map
 * /mavros/setpoint_attitude/tf/listen: False
 * /mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /mavros/setpoint_attitude/use_quaternion: False
 * /mavros/setpoint_position/mav_frame: LOCAL_NED
 * /mavros/setpoint_position/tf/child_frame_id: target_position
 * /mavros/setpoint_position/tf/frame_id: map
 * /mavros/setpoint_position/tf/listen: False
 * /mavros/setpoint_position/tf/rate_limit: 50.0
 * /mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /mavros/startup_px4_usb_quirk: False
 * /mavros/sys/disable_diag: False
 * /mavros/sys/min_voltage: 10.0
 * /mavros/target_component_id: 1
 * /mavros/target_system_id: 1
 * /mavros/tdr_radio/low_rssi: 40
 * /mavros/time/time_ref_source: fcu
 * /mavros/time/timesync_avg_alpha: 0.6
 * /mavros/time/timesync_mode: NONE
 * /mavros/vibration/frame_id: base_link
 * /mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /mavros/vision_pose/tf/frame_id: map
 * /mavros/vision_pose/tf/listen: False
 * /mavros/vision_pose/tf/rate_limit: 10.0
 * /mavros/vision_speed/listen_twist: False
 * /rosdistro: kinetic
 * /rosversion: 1.12.12

NODES
  /
    mavros (mavros/mavros_node)

ROS_MASTER_URI=http://localhost:11311

process[mavros-1]: started with pid [1799]
[ INFO] [1528206344.692588039]: FCU URL: /dev/ttyPIXEXT:921600
[ INFO] [1528206344.694921613]: serial0: device: /dev/ttyPIXEXT @ 921600 bps
[ INFO] [1528206344.695710559]: GCS bridge disabled
[ INFO] [1528206344.706214005]: Plugin 3dr_radio loaded
[ INFO] [1528206344.709356631]: Plugin 3dr_radio initialized
[ INFO] [1528206344.709494584]: Plugin actuator_control blacklisted
[ INFO] [1528206344.712332662]: Plugin adsb loaded
[ INFO] [1528206344.810406399]: Plugin adsb initialized
[ INFO] [1528206344.810668325]: Plugin altitude loaded
[ INFO] [1528206344.853897936]: Plugin altitude initialized
[ INFO] [1528206344.854124649]: Plugin cam_imu_sync loaded
[ INFO] [1528206344.868517022]: Plugin cam_imu_sync initialized
[ INFO] [1528206344.868802633]: Plugin command loaded
[ INFO] [1528206345.023582253]: Plugin command initialized
[ INFO] [1528206345.023621549]: Plugin debug_value blacklisted
[ INFO] [1528206345.023896984]: Plugin distance_sensor loaded
[ INFO] [1528206345.367085740]: Plugin distance_sensor initialized
[ INFO] [1528206345.367292275]: Plugin fake_gps loaded
[ INFO] [1528206345.993291161]: Plugin fake_gps initialized
[ INFO] [1528206345.993324904]: Plugin ftp blacklisted
[ INFO] [1528206345.993495177]: Plugin global_position loaded
[ INFO] [1528206346.418543139]: Plugin global_position initialized
[ INFO] [1528206346.418593133]: Plugin hil blacklisted
[ INFO] [1528206346.418909048]: Plugin home_position loaded
[ INFO] [1528206346.424378383]: Plugin home_position initialized
[ INFO] [1528206346.424550102]: Plugin imu loaded
[ INFO] [1528206346.433827986]: Plugin imu initialized
[ INFO] [1528206346.434002484]: Plugin local_position loaded
[ INFO] [1528206346.440448943]: Plugin local_position initialized
[ INFO] [1528206346.440624059]: Plugin manual_control loaded
[ INFO] [1528206346.444635925]: Plugin manual_control initialized
[ INFO] [1528206346.444791787]: Plugin mocap_pose_estimate loaded
[ INFO] [1528206346.453000934]: Plugin mocap_pose_estimate initialized
[ INFO] [1528206346.453170617]: Plugin obstacle_distance loaded
[ INFO] [1528206346.456161860]: Plugin obstacle_distance initialized
[ INFO] [1528206346.456318749]: Plugin odom loaded
[ INFO] [1528206346.461227943]: Plugin odom initialized
[ INFO] [1528206346.461482062]: Plugin param loaded
[ INFO] [1528206346.464749572]: Plugin param initialized
[ INFO] [1528206346.464894610]: Plugin px4flow loaded
[ INFO] [1528206346.473668337]: Plugin px4flow initialized
[ INFO] [1528206346.473828517]: Plugin rangefinder loaded
[ INFO] [1528206346.474695426]: Plugin rangefinder initialized
[ INFO] [1528206346.474894133]: Plugin rc_io loaded
[ INFO] [1528206346.479374539]: Plugin rc_io initialized
[ INFO] [1528206346.479415076]: Plugin safety_area blacklisted
[ INFO] [1528206346.479571572]: Plugin setpoint_accel loaded
[ INFO] [1528206346.483592582]: Plugin setpoint_accel initialized
[ INFO] [1528206346.483845022]: Plugin setpoint_attitude loaded
[ INFO] [1528206346.496905739]: Plugin setpoint_attitude initialized
[ INFO] [1528206346.497093687]: Plugin setpoint_position loaded
[ INFO] [1528206346.513243304]: Plugin setpoint_position initialized
[ INFO] [1528206346.513398948]: Plugin setpoint_raw loaded
[ INFO] [1528206346.524861615]: Plugin setpoint_raw initialized
[ INFO] [1528206346.525023984]: Plugin setpoint_velocity loaded
[ INFO] [1528206346.531851581]: Plugin setpoint_velocity initialized
[ INFO] [1528206346.532195967]: Plugin sys_status loaded
[ INFO] [1528206346.543599443]: Plugin sys_status initialized
[ INFO] [1528206346.543766510]: Plugin sys_time loaded
[ INFO] [1528206346.547680180]: TM: Timesync mode: NONE
[ INFO] [1528206346.548386117]: Plugin sys_time initialized
[ INFO] [1528206346.548550715]: Plugin vfr_hud loaded
[ INFO] [1528206346.550089774]: Plugin vfr_hud initialized
[ INFO] [1528206346.550243132]: Plugin vibration loaded
[ INFO] [1528206346.551921768]: Plugin vibration initialized
[ INFO] [1528206346.552065219]: Plugin vision_pose_estimate loaded
[ INFO] [1528206346.561863598]: Plugin vision_pose_estimate initialized
[ INFO] [1528206346.562007222]: Plugin vision_speed_estimate loaded
[ INFO] [1528206346.565814058]: Plugin vision_speed_estimate initialized
[ INFO] [1528206346.566012320]: Plugin waypoint loaded
[ INFO] [1528206346.571839418]: Plugin waypoint initialized
[ INFO] [1528206346.571945153]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1528206346.571980376]: Built-in MAVLink package version: 2018.5.5
[ INFO] [1528206346.572017198]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1528206346.572039917]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1528206346.580335923]: IMU: Attitude quaternion IMU detected!
[ INFO] [1528206346.582115271]: IMU: High resolution IMU detected!
[ INFO] [1528206347.474140678]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1528206347.478073978]: IMU: Attitude quaternion IMU detected!
[ INFO] [1528206347.479044770]: IMU: High resolution IMU detected!

Diagnostics

place here result of:
rostopic echo -n1 /diagnostics

ros@ros:~/catkin_ws$ rostopic echo -n1 /diagnostics
header:
seq: 27
stamp:
secs: 1528206472
nsecs: 230403402
frame_id: ''
status:

level: 0
name: "mavros: FCU connection"
message: "connected"
hardware_id: "/dev/ttyPIXEXT:921600"
values: 
  - 
    key: "Received packets:"
    value: "11545"
  - 
    key: "Dropped packets:"
    value: "0"
  - 
    key: "Buffer overruns:"
    value: "0"
  - 
    key: "Parse errors:"
    value: "0"
  - 
    key: "Rx sequence number:"
    value: "60"
  - 
    key: "Tx sequence number:"
    value: "61"
  - 
    key: "Rx total bytes:"
    value: "489944"
  - 
    key: "Tx total bytes:"
    value: "7797"
  - 
    key: "Rx speed:"
    value: "16228.000000"
  - 
    key: "Tx speed:"
    value: "271.000000"

level: 2
name: "mavros: GPS"
message: "No satellites"
hardware_id: "/dev/ttyPIXEXT:921600"
values:
```
key: "Satellites visible"
value: "0"
```
- key: "Fix type"
  value: "0"
- key: "EPH (m)"
  value: "Unknown"
- key: "EPV (m)"
  value: "Unknown"
level: 0
name: "mavros: Heartbeat"
message: "Normal"
hardware_id: "/dev/ttyPIXEXT:921600"
values:
```
key: "Heartbeats since startup"
value: "28"
```
- key: "Frequency (Hz)"
  value: "0.959974"
- key: "Vehicle type"
  value: "Quadrotor"
- key: "Autopilot type"
  value: "PX4 Autopilot"
- key: "Mode"
  value: "AUTO.LOITER"
- key: "System status"
  value: "Standby"
level: 0
name: "mavros: System"
message: "Normal"
hardware_id: "/dev/ttyPIXEXT:921600"
values:
```
key: "Sensor present"
value: "0x00000020"
```
- key: "Sensor enabled"
  value: "0x00000000"
- key: "Sensor helth"
  value: "0x00200020"
- key: "CPU Load (%)"
  value: "55.2"
- key: "Drop rate (%)"
  value: "0.0"
- key: "Errors comm"
  value: "0"
- key: "Errors count mavconn library. #1"
  value: "0"
- key: "Errors count Pub/sub for Mavlink.msg #2"
  value: "0"
- key: "Errors count Plugin loading functionality. #3"
  value: "0"
- key: "Errors count Diagnostic mesages. #4"
  value: "0"
level: 0
name: "mavros: Battery"
message: "Normal"
hardware_id: "/dev/ttyPIXEXT:921600"
values:
```
key: "Voltage"
value: "65.54"
```
- key: "Current"
  value: "-0.0"
- key: "Remaining"
  value: "-1.0"

Check ID

rosrun mavros checkidOK. I got messages from 1:1.

---
Received 5724 messages, from 1 addresses
sys:comp   list of messages
  1:1     0, 1, 132, 140, 141, 147, 4, 26, 30, 31, 32, 36, 74, 76, 83, 85, 230, 105, 111, 241, 242, 245

The text was updated successfully, but these errors were encountered:

vooon · 2019-07-28T18:28:03Z

Battery messages are processed here:

mavros/mavros/src/plugins/sys_status.cpp

Line 748 in 8aabb0b

void handle_sys_status(const mavlink::mavlink_message_t *msg, mavlink::common::msg::SYS_STATUS &stat)
mavros/mavros/src/plugins/sys_status.cpp

Line 839 in 8aabb0b

void handle_battery_status(const mavlink::mavlink_message_t *msg, mavlink::common::msg::BATTERY_STATUS &bs)

Math is simple remaining / 100.0f (to map 0-100 to 0.0-1.0), and remaining may be -1 in case of unknown.
So probably we should define what to return in that case.
In any case, you may use r < 0 to check that condition.

FaboNo · 2019-07-29T06:17:53Z

@vooon Thank you for your message. I got the same values with Analyze (qgc) and I am surprised by the voltage value (65 volts and I have a 4C lipo battery). I am wondering whether I did not correctly configure the power panel with QGC or not.

vooon · 2019-07-29T09:38:43Z

@FaboNo yes, likely that battery monitor is misconfigured. But i don't know what exactly wrong, so probably first better to try reconfigure until you got possible values in QGC.
Also i suppose, that unknown remaining percentage may be because lack of current monitor (in config).

FaboNo · 2019-08-04T14:01:51Z

@vooon the cable from the power module was plugged inot POWER2 instead of POWER1 on the pixhawk v2.1. This is why the pixhawk s not able to measure the voltage. Now it works fine.

vooon added bug plugin labels Jul 28, 2019

FaboNo closed this as completed Aug 4, 2019

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sensor_msgs::BatteryState percentage with a negative value #1284

sensor_msgs::BatteryState percentage with a negative value #1284

FaboNo commented Jul 27, 2019

level: 2
name: "mavros: GPS"
message: "No satellites"
hardware_id: "/dev/ttyPIXEXT:921600"
values:

level: 0
name: "mavros: Heartbeat"
message: "Normal"
hardware_id: "/dev/ttyPIXEXT:921600"
values:

level: 0
name: "mavros: System"
message: "Normal"
hardware_id: "/dev/ttyPIXEXT:921600"
values:

level: 0
name: "mavros: Battery"
message: "Normal"
hardware_id: "/dev/ttyPIXEXT:921600"
values:

vooon commented Jul 28, 2019 •

edited

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FaboNo commented Jul 29, 2019

vooon commented Jul 29, 2019

FaboNo commented Aug 4, 2019

sensor_msgs::BatteryState percentage with a negative value #1284

sensor_msgs::BatteryState percentage with a negative value #1284

Comments

FaboNo commented Jul 27, 2019

Issue details

MAVROS version and platform

Autopilot type and version

Node logs

Diagnostics

ros@ros:~/catkin_ws$ rostopic echo -n1 /diagnostics header: seq: 27 stamp: secs: 1528206472 nsecs: 230403402 frame_id: '' status:

level: 2 name: "mavros: GPS" message: "No satellites" hardware_id: "/dev/ttyPIXEXT:921600" values:

level: 0 name: "mavros: Heartbeat" message: "Normal" hardware_id: "/dev/ttyPIXEXT:921600" values:

level: 0 name: "mavros: System" message: "Normal" hardware_id: "/dev/ttyPIXEXT:921600" values:

level: 0 name: "mavros: Battery" message: "Normal" hardware_id: "/dev/ttyPIXEXT:921600" values:

Check ID

vooon commented Jul 28, 2019 • edited Loading

FaboNo commented Jul 29, 2019

vooon commented Jul 29, 2019

FaboNo commented Aug 4, 2019

ros@ros:~/catkin_ws$ rostopic echo -n1 /diagnostics
header:
seq: 27
stamp:
secs: 1528206472
nsecs: 230403402
frame_id: ''
status:

level: 2
name: "mavros: GPS"
message: "No satellites"
hardware_id: "/dev/ttyPIXEXT:921600"
values:

level: 0
name: "mavros: Heartbeat"
message: "Normal"
hardware_id: "/dev/ttyPIXEXT:921600"
values:

level: 0
name: "mavros: System"
message: "Normal"
hardware_id: "/dev/ttyPIXEXT:921600"
values:

level: 0
name: "mavros: Battery"
message: "Normal"
hardware_id: "/dev/ttyPIXEXT:921600"
values:

vooon commented Jul 28, 2019 •

edited

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