power consumption model and estimation

[ParhamMohamadi]

I was wondering to use ctu-mrs as the framework of my work. I could not find any power measurements topics or services in the control_manager.launch . I wonder if there is any further information about the battery usage and power consumption in mrs_uav_system.

thank you.

[klaxalk]

Hey, the particularities of power consumption are managed by the Mavros node, which handles communication with the Pixhawk flight controller. You can get current and voltage measurements if you are running the Pixhawk's power board. However, the power board's sensors need to be calibrated first. Otherwise, the readings are going to be very skewed. If you do that, subscribe to the /uav*/mavros/battery topic (http://docs.ros.org/en/hydro/api/mavros/html/msg/BatteryStatus.html) to get the readings.