Refactored to work with new battery_status module

PX4 · Dec 5, 2019 · 993fa5b · 993fa5b
1 parent d7bb5d4
commit 993fa5b
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Showing 35 changed files with 1,097 additions and 1,833 deletions.
diff --git a/boards/bitcraze/crazyflie/syslink/syslink_main.cpp b/boards/bitcraze/crazyflie/syslink/syslink_main.cpp
@@ -420,7 +420,7 @@ Syslink::handle_message(syslink_message_t *msg)
 		}
 
 		/* With the usb plugged in and battery disconnected, it appears to be charged. The voltage check ensures that a battery is connected  */
-		else if (powered && !charging && _battery_status.voltage_filtered_v > 3.7f) {
+		else if (powered && !charging && vbat > 3.7f) {
 			_bstate = BAT_CHARGED;
 
 		} else {

diff --git a/boards/bitcraze/crazyflie/syslink/syslink_main.h b/boards/bitcraze/crazyflie/syslink/syslink_main.h
@@ -137,7 +137,7 @@ class Syslink
 
 	uORB::PublicationMulti<input_rc_s>		_rc_pub{ORB_ID(input_rc)};
 
-	Battery1 _battery;
+	Battery _battery;
 
 	int32_t _rssi;
 	battery_state _bstate;

diff --git a/boards/intel/aerofc-v1/default.cmake b/boards/intel/aerofc-v1/default.cmake
@@ -32,7 +32,7 @@ px4_add_board(
 		#uavcan
 	MODULES
 		#airspeed_selector
-		attitude_estimator_q
+		#attitude_estimator_q
 		battery_status
 		#camera_feedback
 		commander
@@ -44,7 +44,7 @@ px4_add_board(
 		land_detector
 		landing_target_estimator
 		load_mon
-		local_position_estimator
+		#local_position_estimator
 		logger
 		mavlink
 		mc_att_control

diff --git a/msg/battery_status.msg b/msg/battery_status.msg
@@ -17,6 +17,7 @@ uint16 cycle_count         # number of discharge cycles the battery has experien
 uint16 run_time_to_empty   # predicted remaining battery capacity based on the present rate of discharge in min
 uint16 average_time_to_empty   # predicted remaining battery capacity based on the average rate of discharge in min
 uint16 serial_number       # serial number of the battery pack
+uint8 id                # ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed.
 
 float32[4] voltage_cell_v   # Battery individual cell voltages
 float32 max_cell_voltage_delta   # Max difference between individual cell voltages

diff --git a/src/drivers/driver_framework_wrapper/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp
@@ -101,7 +101,7 @@ class DfBebopBusWrapper : public BebopBus
 	orb_advert_t _battery_topic;
 	orb_advert_t _esc_topic;
 
-	Battery1 _battery;
+	Battery _battery;
 	bool _armed;
 	float _last_throttle;
 
@@ -203,6 +203,10 @@ int DfBebopBusWrapper::_publish(struct bebop_state_data &data)
 
 	const hrt_abstime timestamp = hrt_absolute_time();
 
+	// TODO Check if this is the right way for the Bebop
+	// We don't have current measurements
+	_battery.updateBatteryStatus(timestamp, data.battery_voltage_v, 0.0, true, true, 0, _last_throttle, _armed, false);
+
 	esc_status_s esc_status = {};
 
 	uint16_t esc_speed_setpoint_rpm[4] = {};
@@ -218,9 +222,7 @@ int DfBebopBusWrapper::_publish(struct bebop_state_data &data)
 	// TODO: when is this ever blocked?
 	if (!(m_pub_blocked)) {
 
-		// TODO Check if this is the right way for the Bebop
-		// We don't have current measurements
-		_battery.updateBatteryStatus(timestamp, data.battery_voltage_v, 0.0, true, true, 0, _last_throttle, _armed, true);
+		_battery.publish();
 
 		if (_esc_topic == nullptr) {
 			_esc_topic = orb_advertise(ORB_ID(esc_status), &esc_status);

diff --git a/src/drivers/driver_framework_wrapper/df_ltc2946_wrapper/df_ltc2946_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_ltc2946_wrapper/df_ltc2946_wrapper.cpp
@@ -69,7 +69,7 @@ class DfLtc2946Wrapper : public LTC2946
 private:
 	int _publish(const struct ltc2946_sensor_data &data);
 
-	Battery1 _battery{};
+	Battery _battery{};
 
 	int _actuator_ctrl_0_sub{-1};
 	int _vcontrol_mode_sub{-1};

diff --git a/src/drivers/power_monitor/voxlpm/voxlpm.cpp b/src/drivers/power_monitor/voxlpm/voxlpm.cpp
@@ -78,7 +78,7 @@ VOXLPM::init()
 	write_reg(DEFAULT_CTRLA_REG_VAL, VOXLPM_LTC2946_CTRLA_REG);
 	write_reg(DEFAULT_CTRLB_REG_VAL, VOXLPM_LTC2946_CTRLB_REG);
 
-	_battery.reset(&_bat_status);
+	_battery.reset();
 
 	start();
 
@@ -153,9 +153,7 @@ VOXLPM::measure()
 
 		switch (_ch_type) {
 		case VOXLPM_CH_TYPE_VBATT: {
-				_battery.updateBatteryStatus(tnow, _voltage, _amperage, true, true, 0, 0, false, &_bat_status);
-
-				_bat_pub_topic.publish(_bat_status);
+				_battery.updateBatteryStatus(tnow, _voltage, _amperage, true, true, 0, 0, false, true);
 			}
 
 		// fallthrough
@@ -176,9 +174,7 @@ VOXLPM::measure()
 	} else {
 		switch (_ch_type) {
 		case VOXLPM_CH_TYPE_VBATT: {
-				_battery.updateBatteryStatus(tnow, 0.0, 0.0, true, true, 0, 0, false, &_bat_status);
-
-				_bat_pub_topic.publish(_bat_status);
+				_battery.updateBatteryStatus(tnow, 0.0, 0.0, true, true, 0, 0, false, true);
 			}
 			break;
 

diff --git a/src/drivers/power_monitor/voxlpm/voxlpm.hpp b/src/drivers/power_monitor/voxlpm/voxlpm.hpp
@@ -160,10 +160,8 @@ class VOXLPM : public device::I2C, public px4::ScheduledWorkItem
 
 	perf_counter_t		_sample_perf;
 
-	uORB::PublicationMulti<battery_status_s>	_bat_pub_topic{ORB_ID(battery_status)};
 	uORB::PublicationMulti<power_monitor_s>		_pm_pub_topic{ORB_ID(power_monitor)};
 
-	battery_status_s	_bat_status{};
 	power_monitor_s 	_pm_status{};
 
 	VOXLPM_CH_TYPE		_ch_type;

diff --git a/src/lib/battery/CMakeLists.txt b/src/lib/battery/CMakeLists.txt
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2019 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -31,4 +31,7 @@
 #
 ############################################################################
 
-px4_add_library(battery battery_base.cpp battery.cpp)
+px4_add_library(battery battery.cpp)
+
+# TODO: Add an option in px4_add_library function to add module config file
+set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/module.yaml)