battery: pass priority in by setter

src/modules/battery_status/analog_battery.cpp

@@ -49,9 +49,11 @@ static constexpr int DEFAULT_V_CHANNEL[1] = {0};
 static constexpr int DEFAULT_I_CHANNEL[1] = {0};
 #endif
 
-AnalogBattery::AnalogBattery(int index, ModuleParams *parent, const int sample_interval_us, const uint8_t source) :
+AnalogBattery::AnalogBattery(int index, ModuleParams *parent, const int sample_interval_us, const uint8_t source,
+			     const uint8_t priority) :
 	Battery(index, parent, sample_interval_us, source)
 {
+	Battery::setPriority(priority);
 	char param_name[17];
 
 	_analog_param_handles.v_offs_cur = param_find("BAT_V_OFFS_CURR");
@@ -70,8 +72,7 @@ AnalogBattery::AnalogBattery(int index, ModuleParams *parent, const int sample_i
 }
 
 void
-AnalogBattery::updateBatteryStatusADC(hrt_abstime timestamp, float voltage_raw, float current_raw,
-				      int priority)
+AnalogBattery::updateBatteryStatusADC(hrt_abstime timestamp, float voltage_raw, float current_raw)
 {
 	float voltage_v = voltage_raw * _analog_params.v_div;
 	float current_a = (current_raw - _analog_params.v_offs_cur) * _analog_params.a_per_v;
@@ -80,8 +81,7 @@ AnalogBattery::updateBatteryStatusADC(hrt_abstime timestamp, float voltage_raw,
 			 (BOARD_ADC_OPEN_CIRCUIT_V <= BOARD_VALID_UV || is_valid());
 
 
-	Battery::updateBatteryStatus(timestamp, voltage_v, current_a, connected,
-				     priority);
+	Battery::updateBatteryStatus(timestamp, voltage_v, current_a, connected);
 }
 
 bool AnalogBattery::is_valid()

src/modules/battery_status/analog_battery.h

@@ -39,7 +39,8 @@
 class AnalogBattery : public Battery
 {
 public:
-	AnalogBattery(int index, ModuleParams *parent, const int sample_interval_us, const uint8_t source);
+	AnalogBattery(int index, ModuleParams *parent, const int sample_interval_us, const uint8_t source,
+		      const uint8_t priority);
 
 	/**
 	 * Update current battery status message.
@@ -50,8 +51,7 @@ public:
 	 * @param source The source as defined by param BAT%d_SOURCE
 	 * @param priority: The brick number -1. The term priority refers to the Vn connection on the LTC4417
 	 */
-	void updateBatteryStatusADC(hrt_abstime timestamp, float voltage_raw, float current_raw,
-				    int priority);
+	void updateBatteryStatusADC(hrt_abstime timestamp, float voltage_raw, float current_raw);
 
 	/**
 	 * Whether the ADC channel for the voltage of this battery is valid.

src/modules/battery_status/battery_status.cpp

@@ -137,9 +137,9 @@ private:
 BatteryStatus::BatteryStatus() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
-	_battery1(1, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE),
+	_battery1(1, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE, 0),
 #if BOARD_NUMBER_BRICKS > 1
-	_battery2(2, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE),
+	_battery2(2, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE, 1),
 #endif
 	_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME))
 {
@@ -221,8 +221,7 @@ BatteryStatus::adc_poll()
 			_analogBatteries[b]->updateBatteryStatusADC(
 				hrt_absolute_time(),
 				bat_voltage_adc_readings[b],
-				bat_current_adc_readings[b],
-				b
+				bat_current_adc_readings[b]
 			);
 		}
 	}

src/modules/esc_battery/EscBattery.cpp

@@ -100,14 +100,12 @@ EscBattery::Run()
 		average_voltage_v /= esc_status.esc_count;
 
 		const bool connected = true;
-		const int priority = 0;
 
 		_battery.updateBatteryStatus(
 			esc_status.timestamp,
 			average_voltage_v,
 			total_current_a,
-			connected,
-			priority);
+			connected);
 	}
 }
 

src/modules/simulator/battery_simulator/BatterySimulator.cpp

@@ -99,7 +99,7 @@ void BatterySimulator::Run()
 	float vbatt = math::gradual(_battery_percentage, 0.f, 1.f, _battery.empty_cell_voltage(), _battery.full_cell_voltage());
 	vbatt *= _battery.cell_count();
 
-	_battery.updateBatteryStatus(now_us, vbatt, ibatt, true, 0);
+	_battery.updateBatteryStatus(now_us, vbatt, ibatt, true);
 
 	perf_end(_loop_perf);
 }