PX4 · julianoes · Dec 5, 2019 · Jul 24, 2019 · Jul 25, 2019 · Nov 7, 2019
diff --git a/boards/bitcraze/crazyflie/syslink/syslink_main.cpp b/boards/bitcraze/crazyflie/syslink/syslink_main.cpp
@@ -288,7 +288,7 @@ Syslink::task_main()
 	_memory = new SyslinkMemory(this);
 	_memory->init();
 
-	_battery.reset(&_battery_status);
+	_battery.reset();
 
 
 	//	int ret;
@@ -411,7 +411,7 @@ Syslink::handle_message(syslink_message_t *msg)
 		memcpy(&vbat, &msg->data[1], sizeof(float));
 		//memcpy(&iset, &msg->data[5], sizeof(float));
 
-		_battery.updateBatteryStatus(t, vbat, -1, true, true, 0, 0, false, &_battery_status);
+		_battery.updateBatteryStatus(t, vbat, -1, true, true, 0, 0, false, true);
 
 
 		// Update battery charge state
@@ -420,16 +420,13 @@ 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 {
 			_bstate = BAT_DISCHARGING;
 		}
 
-		// announce the battery status if needed, just publish else
-		_battery_pub.publish(_battery_status);
-
 	} else if (msg->type == SYSLINK_RADIO_RSSI) {
 		uint8_t rssi = msg->data[0]; // Between 40 and 100 meaning -40 dBm to -100 dBm
 		_rssi = 140 - rssi * 100 / (100 - 40);

diff --git a/boards/bitcraze/crazyflie/syslink/syslink_main.h b/boards/bitcraze/crazyflie/syslink/syslink_main.h
@@ -135,11 +135,8 @@ class Syslink
 	hrt_abstime _params_update[3]; // Time at which the parameters were updated
 	hrt_abstime _params_ack[3]; // Time at which the parameters were acknowledged by the nrf module
 
-	uORB::PublicationMulti<battery_status_s>	_battery_pub{ORB_ID(battery_status)};
 	uORB::PublicationMulti<input_rc_s>		_rc_pub{ORB_ID(input_rc)};
 
-	struct battery_status_s _battery_status;
-
 	Battery _battery;
 
 	int32_t _rssi;

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
@@ -201,13 +201,11 @@ int DfBebopBusWrapper::set_esc_speeds(const float speed_scaled[4])
 int DfBebopBusWrapper::_publish(struct bebop_state_data &data)
 {
 
-	battery_status_s battery_report;
 	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,
-				     &battery_report);
+	_battery.updateBatteryStatus(timestamp, data.battery_voltage_v, 0.0, true, true, 0, _last_throttle, _armed, false);
 
 	esc_status_s esc_status = {};
 
@@ -224,13 +222,7 @@ int DfBebopBusWrapper::_publish(struct bebop_state_data &data)
 	// TODO: when is this ever blocked?
 	if (!(m_pub_blocked)) {
 
-		if (_battery_topic == nullptr) {
-			_battery_topic = orb_advertise_multi(ORB_ID(battery_status), &battery_report,
-							     &_battery_orb_class_instance, ORB_PRIO_LOW);
-
-		} else {
-			orb_publish(ORB_ID(battery_status), _battery_topic, &battery_report);
-		}
+		_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
@@ -48,7 +48,6 @@
 #include <ltc2946/LTC2946.hpp>
 
 #include <uORB/uORB.h>
-#include <uORB/topics/battery_status.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/vehicle_control_mode.h>
 
@@ -70,8 +69,6 @@ class DfLtc2946Wrapper : public LTC2946
 private:
 	int _publish(const struct ltc2946_sensor_data &data);
 
-	orb_advert_t	_battery_pub{nullptr};
-	battery_status_s _battery_status{};
 	Battery _battery{};
 
 	int _actuator_ctrl_0_sub{-1};
@@ -82,7 +79,7 @@ class DfLtc2946Wrapper : public LTC2946
 DfLtc2946Wrapper::DfLtc2946Wrapper() :
 	LTC2946(LTC2946_DEVICE_PATH)
 {
-	_battery.reset(&_battery_status);
+	_battery.reset();
 
 	// subscriptions
 	_actuator_ctrl_0_sub = orb_subscribe(ORB_ID(actuator_controls_0));
@@ -144,11 +141,7 @@ int DfLtc2946Wrapper::_publish(const struct ltc2946_sensor_data &data)
 	_battery.updateBatteryStatus(t, data.battery_voltage_V, data.battery_current_A,
 				     connected, true, 1,
 				     ctrl.control[actuator_controls_s::INDEX_THROTTLE],
-				     vcontrol_mode.flag_armed,  &_battery_status);
-
-	int instance;
-	orb_publish_auto(ORB_ID(battery_status), &_battery_pub, &_battery_status, &instance, ORB_PRIO_DEFAULT);
-
+				     vcontrol_mode.flag_armed, true);
 	return 0;
 }
 

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
@@ -32,3 +32,6 @@
 ############################################################################
 
 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)