Merge pull request #5888 from bluerobotics/power

Add new Fact with current consumption in Watts

src/Vehicle/BatteryFact.json

@@ -39,5 +39,12 @@
     "shortDescription": "Cell Count",
     "type":             "int32",
     "decimalPlaces":    0
+},
+{
+    "name":             "instantPower",
+    "shortDescription": "Watts",
+    "type":             "float",
+    "decimalPlaces":    2,
+    "units":            "W"
 }
 ]

src/Vehicle/Vehicle.cc

@@ -1032,6 +1032,8 @@ void Vehicle::_handleSysStatus(mavlink_message_t& message)
         _batteryFactGroup.voltage()->setRawValue(VehicleBatteryFactGroup::_voltageUnavailable);
     } else {
         _batteryFactGroup.voltage()->setRawValue((double)sysStatus.voltage_battery / 1000.0);
+        // current_battery is 10 mA and voltage_battery is 1mV. (10/1e3 times 1/1e3 = 1/1e5)
+        _batteryFactGroup.instantPower()->setRawValue((float)(sysStatus.current_battery*sysStatus.voltage_battery)/(100000.0));
     }
     _batteryFactGroup.percentRemaining()->setRawValue(sysStatus.battery_remaining);
 
@@ -2935,6 +2937,7 @@ const char* VehicleBatteryFactGroup::_mahConsumedFactName =                 "mah
 const char* VehicleBatteryFactGroup::_currentFactName =                     "current";
 const char* VehicleBatteryFactGroup::_temperatureFactName =                 "temperature";
 const char* VehicleBatteryFactGroup::_cellCountFactName =                   "cellCount";
+const char* VehicleBatteryFactGroup::_instantPowerFactName =                "instantPower";
 
 const char* VehicleBatteryFactGroup::_settingsGroup =                       "Vehicle.battery";
 
@@ -2944,6 +2947,7 @@ const int    VehicleBatteryFactGroup::_mahConsumedUnavailable =       -1;
 const int    VehicleBatteryFactGroup::_currentUnavailable =           -1;
 const double VehicleBatteryFactGroup::_temperatureUnavailable =       -1.0;
 const int    VehicleBatteryFactGroup::_cellCountUnavailable =         -1.0;
+const double VehicleBatteryFactGroup::_instantPowerUnavailable =      -1.0;
 
 VehicleBatteryFactGroup::VehicleBatteryFactGroup(QObject* parent)
     : FactGroup(1000, ":/json/Vehicle/BatteryFact.json", parent)
@@ -2953,6 +2957,7 @@ VehicleBatteryFactGroup::VehicleBatteryFactGroup(QObject* parent)
     , _currentFact                  (0, _currentFactName,                   FactMetaData::valueTypeFloat)
     , _temperatureFact              (0, _temperatureFactName,               FactMetaData::valueTypeDouble)
     , _cellCountFact                (0, _cellCountFactName,                 FactMetaData::valueTypeInt32)
+    , _instantPowerFact             (0, _instantPowerFactName,              FactMetaData::valueTypeFloat)
 {
     _addFact(&_voltageFact,                 _voltageFactName);
     _addFact(&_percentRemainingFact,        _percentRemainingFactName);
@@ -2960,6 +2965,7 @@ VehicleBatteryFactGroup::VehicleBatteryFactGroup(QObject* parent)
     _addFact(&_currentFact,                 _currentFactName);
     _addFact(&_temperatureFact,             _temperatureFactName);
     _addFact(&_cellCountFact,               _cellCountFactName);
+    _addFact(&_instantPowerFact,            _instantPowerFactName);
 
     // Start out as not available
     _voltageFact.setRawValue            (_voltageUnavailable);
@@ -2968,6 +2974,7 @@ VehicleBatteryFactGroup::VehicleBatteryFactGroup(QObject* parent)
     _currentFact.setRawValue            (_currentUnavailable);
     _temperatureFact.setRawValue        (_temperatureUnavailable);
     _cellCountFact.setRawValue          (_cellCountUnavailable);
+    _instantPowerFact.setRawValue       (_instantPowerUnavailable);
 }
 
 const char* VehicleWindFactGroup::_directionFactName =      "direction";

src/Vehicle/Vehicle.h

@@ -156,6 +156,7 @@ public:
     Q_PROPERTY(Fact* current            READ current            CONSTANT)
     Q_PROPERTY(Fact* temperature        READ temperature        CONSTANT)
     Q_PROPERTY(Fact* cellCount          READ cellCount          CONSTANT)
+    Q_PROPERTY(Fact* instantPower       READ instantPower       CONSTANT)
 
     Fact* voltage                   (void) { return &_voltageFact; }
     Fact* percentRemaining          (void) { return &_percentRemainingFact; }
@@ -163,6 +164,7 @@ public:
     Fact* current                   (void) { return &_currentFact; }
     Fact* temperature               (void) { return &_temperatureFact; }
     Fact* cellCount                 (void) { return &_cellCountFact; }
+    Fact* instantPower              (void) { return &_instantPowerFact; }
 
 
     static const char* _voltageFactName;
@@ -171,6 +173,7 @@ public:
     static const char* _currentFactName;
     static const char* _temperatureFactName;
     static const char* _cellCountFactName;
+    static const char* _instantPowerFactName;
 
     static const char* _settingsGroup;
 
@@ -180,6 +183,7 @@ public:
     static const int    _currentUnavailable;
     static const double _temperatureUnavailable;
     static const int    _cellCountUnavailable;
+    static const double _instantPowerUnavailable;
 
 private:
     Fact            _voltageFact;
@@ -188,6 +192,7 @@ private:
     Fact            _currentFact;
     Fact            _temperatureFact;
     Fact            _cellCountFact;
+    Fact            _instantPowerFact;
 };
 
 class VehicleTemperatureFactGroup : public FactGroup