fix(mavlink): handle unknown battery time remaining - #27929
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dakejahl merged 1 commit intoJul 16, 2026
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🔎 FLASH Analysispx4_fmu-v5x [Total VM Diff: 24 byte (0 %)] FILE SIZE VM SIZE
-------------- --------------
+0.0% +24 +0.0% +24 .text
[NEW] +60 [NEW] +60 CSWTCH.1936
[NEW] +42 [NEW] +42 CSWTCH.2550
+8.0% +28 +8.0% +28 MavlinkReceiver::handle_message_battery_status()
[NEW] +15 [NEW] +15 CSWTCH.3470
-0.7% -4 -0.7% -4 MavlinkReceiver::handle_message_hil_sensor()
[DEL] -15 [DEL] -15 CSWTCH.3468
[DEL] -42 [DEL] -42 CSWTCH.2549
[DEL] -60 [DEL] -60 CSWTCH.1935
+0.0% +55 [ = ] 0 .debug_abbrev
-0.0% -2 [ = ] 0 .debug_info
+0.0% +27 [ = ] 0 .debug_line
+33% +1 [ = ] 0 [Unmapped]
+0.0% +26 [ = ] 0 [section .debug_line]
-0.3% -24 [ = ] 0 [Unmapped]
+0.0% +80 +0.0% +24 TOTAL
FILE SIZE VM SIZE
-------------- --------------
+0.0% +24 +0.0% +24 .text
[NEW] +60 [NEW] +60 CSWTCH.1936
[NEW] +42 [NEW] +42 CSWTCH.2550
+8.0% +28 +8.0% +28 MavlinkReceiver::handle_message_battery_status()
[NEW] +15 [NEW] +15 CSWTCH.3470
-0.7% -4 -0.7% -4 MavlinkReceiver::handle_message_hil_sensor()
[DEL] -15 [DEL] -15 CSWTCH.3468
[DEL] -42 [DEL] -42 CSWTCH.2549
[DEL] -60 [DEL] -60 CSWTCH.1935
+0.0% +55 [ = ] 0 .debug_abbrev
-0.0% -2 [ = ] 0 .debug_info
+0.0% +19 [ = ] 0 .debug_line
[DEL] -7 [ = ] 0 [Unmapped]
+0.0% +26 [ = ] 0 [section .debug_line]
-0.0% -12 [ = ] 0 .debug_loclists
-0.4% -24 [ = ] 0 [Unmapped]
+0.0% +60 +0.0% +24 TOTAL
Updated: 2026-07-16T10:43:35 |
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@msli-dev u have any logs? I just want to make sure it doesnt break anything else. Overall the aproach makes sense. |
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dakejahl
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Jul 16, 2026
mrpollo
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Aug 9, 2026
(cherry picked from commit eddc929)
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Description
Convert an unavailable MAVLink BATTERY_STATUS.time_remaining value to NAN
when publishing battery_status.
MAVLink uses 0 to indicate that the remaining battery time estimate is not
provided, while the uORB battery_status.time_remaining_s field uses NAN as
its invalid value.
Previously, battery_status_s was zero-initialized and
time_remaining_s was not explicitly assigned. This left the field at
0.0f, which was treated as a valid estimate by battery checks. It was also
converted back to a MAVLink value of 1 second by the BATTERY_STATUS stream.
This change maps:
Impact
This prevents an unavailable battery time estimate from being interpreted as
zero or one second remaining, which could incorrectly affect RTL battery-time
checks and downstream MAVLink consumers.
Test coverage
publishes battery_status.time_remaining_s = NAN.
0 when no estimate is available.