uavcan: increase battery filter sample interval to 500ms - #25454
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farhangnaderi
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Fixes issue PX4#25430 Co-authored-by: Lasse Järvelä <lasse.jarvela@iceye.com>
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Solved Problem
When using CAN-based power monitors, I found that the battery filter sample interval was set to 20 ms, assuming ~50 Hz telemetry updates. As a result, when UAVCAN_SUB_BAT = 2 (filtering via the internal battery library), the reported battery current reacted very slowly to changes in actual current.
In reality, most CAN power monitors (e.g. Pomegranate Systems Power Monitor) provide updates at only 1–5 Hz.
Fixes #25430
Solution
Increase SAMPLE_INTERVAL_US from 20 ms to 500 ms in src/drivers/uavcan/sensors/battery.hpp
This matches real-world CAN power monitor update rates and reduces slow averaging behavior
Changelog Entry
Test coverage
Hardware tested with Pomegranate Systems Power Monitor at 2 Hz update rate. Battery monitoring worked fine.