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Author: christophfroehlich

battery_state_broadcaster/doc/userdoc.rst

@@ -50,15 +50,15 @@ The broadcaster publishes two topics:
 +-----------------------------+-------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------+
 | ``design_capacity``         | Sum across all batteries                                                | From battery's ``design_capacity`` parameter if provided, otherwise nan.                                                                        |
 +-----------------------------+-------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------+
-| ``percentage``              | Mean across batteries reporting/calculating percentage                  | From battery's ``battery_percentage`` interface if enabled, otherwise calculated from battery's ``min_voltage`` and ``max_voltage`` parameters. |
+| ``percentage``              | Mean across batteries reporting/calculating percentage                  | From battery's ``battery_percentage`` interface if enabled, otherwise calculated from battery's ``minimum_voltage`` and ``maximum_voltage`` parameters. |
 +-----------------------------+-------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------+
 | ``power_supply_status``     | Highest reported enum value                                             | From battery's ``battery_power_supply_status`` interface if enabled, otherwise 0 (unknown).                                                     |
 +-----------------------------+-------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------+
 | ``power_supply_health``     | Highest reported enum value                                             | From battery's ``battery_power_supply_health`` interface if enabled, otherwise 0 (unknown).                                                     |
 +-----------------------------+-------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------+
 | ``power_supply_technology`` | Reported as-is if same across all batteries, otherwise set to *Unknown* | From battery's ``power_supply_technology`` parameter if provided, otherwise 0 (unknown).                                                        |
 +-----------------------------+-------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------+
-| ``present``                 | True                                                                    | From battery's ``battery_present`` interface if enabled, otherwise true if battery's voltage values is valid.                                   |
+| ``present``                 | True                                                                    | From battery's ``battery_present`` interface if enabled, otherwise true if the battery voltage value is valid (not NaN and not 0.0).                                   |
 +-----------------------------+-------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------+
 | ``cell_voltage``            | Empty                                                                   | Empty                                                                                                                                           |
 +-----------------------------+-------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------+

battery_state_broadcaster/src/battery_state_broadcaster_parameters.yaml

@@ -32,7 +32,7 @@ battery_state_broadcaster:
         type: bool,
         default_value: false,
         read_only: true,
-        description: "Whether to read charge level [%] (0.0 to 100.0) from this battery's state interface. If unmeasured, linear percentage is calculated using min and max voltage parameters (if provided), otherwise NaN."
+        description: "Whether to read charge level [%] (0.0 to 100.0) from this battery's state interface. If unmeasured, linear percentage is calculated using the minimum_voltage and maximum_voltage parameters (if provided), otherwise NaN."
       }
       battery_power_supply_status: {
         type: bool,