Units/enum/range before description

Author: hamishwillee

msg/versioned/BatteryStatus.msg

@@ -6,76 +6,76 @@
 
 uint32 MESSAGE_VERSION = 0
 
-uint64 timestamp # Time since system start [us]
+uint64 timestamp # [us] Time since system start.
 bool connected # Whether or not a battery is connected, based on a voltage threshold
-float32 voltage_v # Battery voltage [V] [@invalid 0]
-float32 current_a # Battery current [A] [@invalid -1]
-float32 current_average_a # Battery current average (for FW average in level flight) [A] [@invalid -1]
-float32 discharged_mah # Discharged amount [mAh] [@invalid -1]
-float32 remaining # Remaining capacity [@range 0,1] [@invalid -1]
-float32 scale # Power scaling factor [@range 1,] [@invalid -1]
-float32 time_remaining_s # Predicted time remaining until battery is empty under previous averaged load [s] [@invalid NaN]
-float32 temperature # Temperature of the battery [°C] [@invalid NaN]
-uint8 cell_count # Number of cells [@invalid 0]
+float32 voltage_v # [V] [@invalid 0] Battery voltage.
+float32 current_a # [A] [@invalid -1] Battery current.
+float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight).
+float32 discharged_mah # [mAh] [@invalid -1] Discharged amount.
+float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity.
+float32 scale # [@range 1,] [@invalid -1] Power scaling factor.
+float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load.
+float32 temperature # [°C] [@invalid NaN] Temperature of the battery.
+uint8 cell_count # [@invalid 0] Number of cells.
 
 
-uint8 source # Battery source [@enum SOURCE]
-uint8 SOURCE_POWER_MODULE = 0 # Power module
+uint8 source # [@enum SOURCE] Battery source.
+uint8 SOURCE_POWER_MODULE = 0 # Power module.
 uint8 SOURCE_EXTERNAL = 1 # External
 uint8 SOURCE_ESCS = 2 # ESCs
 
 uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
-uint16 capacity # Actual capacity of the battery [mAh]
-uint16 cycle_count # Number of discharge cycles the battery has experienced
-uint16 average_time_to_empty # Predicted remaining battery capacity based on the average rate of discharge [minutes]
-uint16 serial_number # Serial number of the battery pack
+uint16 capacity # [mAh] Actual capacity of the battery.
+uint16 cycle_count # Number of discharge cycles the battery has experienced.
+uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge.
+uint16 serial_number # Serial number of the battery pack.
 uint16 manufacture_date # Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
-uint16 state_of_health # State of health. FullChargeCapacity/DesignCapacity [%] [@range 0, 100].
-uint16 max_error # Max error, expected margin of error in the state-of-charge calculation [%] [@range 1, 100]
+uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity.
+uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation.
 uint8 id # ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed.
-uint16 interface_error # Interface error counter
+uint16 interface_error # Interface error counter.
 
-float32[14] voltage_cell_v # Battery individual cell voltages [V] [@invalid 0]
-float32 max_cell_voltage_delta # Max difference between individual cell voltages
+float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages.
+float32 max_cell_voltage_delta # Max difference between individual cell voltages.
 
-bool is_powering_off # Power off event imminent indication, false if unknown
-bool is_required # Set if the battery is explicitly required before arming
+bool is_powering_off # Power off event imminent indication, false if unknown.
+bool is_required # Set if the battery is explicitly required before arming.
 
-uint8 warning # Current battery warning [@enum WARNING STATE]
-uint8 WARNING_NONE = 0 # No battery low voltage warning active
-uint8 WARNING_LOW = 1 # Low voltage warning
-uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
-uint8 WARNING_EMERGENCY = 3 # Immediate landing required
-uint8 WARNING_FAILED = 4 # Battery has failed completely
+uint8 warning # [@enum WARNING STATE] Current battery warning.
+uint8 WARNING_NONE = 0 # No battery low voltage warning active.
+uint8 WARNING_LOW = 1 # Low voltage warning.
+uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately.
+uint8 WARNING_EMERGENCY = 3 # Immediate landing required.
+uint8 WARNING_FAILED = 4 # Battery has failed completely.
 
 uint8 STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field.
 uint8 STATE_CHARGING = 7 # Battery is charging
 
-uint16 faults # Smart battery supply status/fault flags (bitmask) for health indication. [@enum FAULT]
-uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
-uint8 FAULT_SPIKES = 1 # Voltage spikes
-uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed
-uint8 FAULT_OVER_CURRENT = 3 # Over-current
-uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature
-uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
+uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication.
+uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged.
+uint8 FAULT_SPIKES = 1 # Voltage spikes.
+uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed.
+uint8 FAULT_OVER_CURRENT = 3 # Over-current.
+uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature.
+uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault.
 uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage).
-uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
-uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
-uint8 FAULT_HARDWARE_FAILURE = 9 # hardware problem
-uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
+uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware.
+uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system.
+uint8 FAULT_HARDWARE_FAILURE = 9 # hardware problem.
+uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming.
 uint8 FAULT_COUNT = 11 # Counter - keep it as last element!
 
 uint8 MAX_INSTANCES = 4
 
-float32 full_charge_capacity_wh # The compensated battery capacity [Wh]
-float32 remaining_capacity_wh # The compensated battery capacity remaining [Wh]
-uint16 over_discharge_count # Number of battery overdischarge
-float32 nominal_voltage # Nominal voltage of the battery pack [V]
+float32 full_charge_capacity_wh # [Wh] The compensated battery capacity.
+float32 remaining_capacity_wh # [Wh] The compensated battery capacity remaining.
+uint16 over_discharge_count # Number of battery overdischarge.
+float32 nominal_voltage # [V] Nominal voltage of the battery pack.
 
-float32 internal_resistance_estimate # Internal resistance per cell estimate [Ohm]
-float32 ocv_estimate # Open circuit voltage estimate [V]
-float32 ocv_estimate_filtered # Filtered open circuit voltage estimate [V] 
-float32 volt_based_soc_estimate # Normalized volt based state of charge estimate [@range 0, 1] 
-float32 voltage_prediction # Predicted voltage [V] 
-float32 prediction_error # Prediction error [V] 
-float32 estimation_covariance_norm # Norm of the covariance matrix
+float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate.
+float32 ocv_estimate # [V] Open circuit voltage estimate.
+float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate.
+float32 volt_based_soc_estimate # [@range 0, 1] Normalized volt based state of charge estimate.
+float32 voltage_prediction # [V] Predicted voltage.
+float32 prediction_error # [V] Prediction error.
+float32 estimation_covariance_norm # Norm of the covariance matrix.