Code cleanup

src/drivers/driver_framework_wrapper/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp

@@ -101,7 +101,7 @@ private:
 	orb_advert_t _battery_topic;
 	orb_advert_t _esc_topic;
 
-	Battery _battery;
+	Battery _battery{1, nullptr};
 	bool _armed;
 	float _last_throttle;
 
@@ -114,7 +114,7 @@ private:
 };
 
 DfBebopBusWrapper::DfBebopBusWrapper() :
-	BebopBus(BEBOP_BUS_DEVICE_PATH), _battery_topic(nullptr), _esc_topic(nullptr), _battery(), _armed(false),
+	BebopBus(BEBOP_BUS_DEVICE_PATH), _battery_topic(nullptr), _esc_topic(nullptr), _battery(1, nullptr), _armed(false),
 	_last_throttle(0.0f),
 	_battery_orb_class_instance(-1)
 {}

src/drivers/driver_framework_wrapper/df_ltc2946_wrapper/df_ltc2946_wrapper.cpp

@@ -69,7 +69,7 @@ public:
 private:
 	int _publish(const struct ltc2946_sensor_data &data);
 
-	Battery _battery{};
+	Battery _battery{1, nullptr};
 
 	int _actuator_ctrl_0_sub{-1};
 	int _vcontrol_mode_sub{-1};

src/drivers/power_monitor/voxlpm/voxlpm.cpp

@@ -46,7 +46,9 @@
 VOXLPM::VOXLPM(const char *path, int bus, int address, VOXLPM_CH_TYPE ch_type) :
 	I2C("voxlpm", path, bus, address, 400000),
 	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(I2C::get_device_id())),
-	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample"))
+	ModuleParams(nullptr),
+	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample")),
+	_battery(1, this)
 {
 	_ch_type = ch_type;
 
@@ -129,6 +131,13 @@ VOXLPM::Run()
 int
 VOXLPM::measure()
 {
+	parameter_update_s update;
+
+	if (_parameter_sub.update(&update)) {
+		updateParams();
+	}
+
+
 	_voltage = 0.0f;
 	_amperage = 0.0f;
 

src/drivers/power_monitor/voxlpm/voxlpm.hpp

@@ -68,8 +68,10 @@
 #include <battery/battery.h>
 
 #include <uORB/PublicationMulti.hpp>
+#include <uORB/Subscription.hpp>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/power_monitor.h>
+#include <uORB/topics/parameter_update.h>
 
 /*
  * Note that these are unshifted addresses.
@@ -142,7 +144,7 @@ enum VOXLPM_CH_TYPE {
 	VOXLPM_CH_TYPE_P5VDC
 };
 
-class VOXLPM : public device::I2C, public px4::ScheduledWorkItem
+class VOXLPM : public device::I2C, public px4::ScheduledWorkItem, public ModuleParams
 {
 public:
 	VOXLPM(const char *path, int bus, int address, VOXLPM_CH_TYPE ch_type);
@@ -161,6 +163,7 @@ private:
 	perf_counter_t		_sample_perf;
 
 	uORB::PublicationMulti<power_monitor_s>		_pm_pub_topic{ORB_ID(power_monitor)};
+	uORB::Subscription _parameter_sub{ORB_ID(parameter_update)};
 
 	power_monitor_s 	_pm_status{};