battery: pass connected flag in by setter

boards/bitcraze/crazyflie/syslink/syslink_main.cpp

@@ -404,7 +404,8 @@ 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);
+		_battery.setConnected(true);
+		_battery.updateBatteryStatus(t, vbat, -1);
 
 		// Update battery charge state
 		if (charging) {

src/drivers/power_monitor/ina226/ina226.cpp

@@ -83,11 +83,11 @@ INA226::INA226(const I2CSPIDriverConfig &config, int battery_index) :
 	_power_lsb = 25 * _current_lsb;
 
 	// We need to publish immediately, to guarantee that the first instance of the driver publishes to uORB instance 0
+	_battery.setConnected(false);
 	_battery.updateBatteryStatus(
 		hrt_absolute_time(),
 		0.0,
-		0.0,
-		false
+		0.0
 	);
 }
 
@@ -228,11 +228,11 @@ INA226::collect()
 		_bus_voltage = _power = _current = _shunt = 0;
 	}
 
+	_battery.setConnected(success);
 	_battery.updateBatteryStatus(
 		hrt_absolute_time(),
 		(float) _bus_voltage * INA226_VSCALE,
-		(float) _current * _current_lsb,
-		success
+		(float) _current * _current_lsb
 	);
 
 	perf_end(_sample_perf);
@@ -296,11 +296,11 @@ INA226::RunImpl()
 		ScheduleDelayed(INA226_CONVERSION_INTERVAL);
 
 	} else {
+		_battery.setConnected(false);
 		_battery.updateBatteryStatus(
 			hrt_absolute_time(),
 			0.0f,
-			0.0f,
-			false
+			0.0f
 		);
 
 		if (init() != PX4_OK) {

src/drivers/power_monitor/ina228/ina228.cpp

@@ -85,11 +85,11 @@ INA228::INA228(const I2CSPIDriverConfig &config, int battery_index) :
 	_power_lsb = 3.2f * _current_lsb;
 
 	// We need to publish immediately, to guarantee that the first instance of the driver publishes to uORB instance 0
+	_battery.setConnected(false);
 	_battery.updateBatteryStatus(
 		hrt_absolute_time(),
 		0.0,
-		0.0,
-		false
+		0.0
 	);
 }
 
@@ -309,11 +309,11 @@ INA228::collect()
 		_bus_voltage = _power = _current = _shunt = 0;
 	}
 
+	_battery.setConnected(success);
 	_battery.updateBatteryStatus(
 		hrt_absolute_time(),
 		(float) _bus_voltage * INA228_VSCALE,
-		(float) _current * _current_lsb,
-		success
+		(float) _current * _current_lsb
 	);
 
 	perf_end(_sample_perf);
@@ -377,11 +377,11 @@ INA228::RunImpl()
 		ScheduleDelayed(INA228_CONVERSION_INTERVAL);
 
 	} else {
+		_battery.setConnected(false);
 		_battery.updateBatteryStatus(
 			hrt_absolute_time(),
 			0.0f,
-			0.0f,
-			false
+			0.0f
 		);
 
 		if (init() != PX4_OK) {

src/drivers/power_monitor/ina238/ina238.cpp

@@ -68,11 +68,11 @@ INA238::INA238(const I2CSPIDriverConfig &config, int battery_index) :
 	_current_lsb = _max_current / INA238_DN_MAX;
 
 	// We need to publish immediately, to guarantee that the first instance of the driver publishes to uORB instance 0
+	_battery.setConnected(false);
 	_battery.updateBatteryStatus(
 		hrt_absolute_time(),
 		0.0,
-		0.0,
-		false
+		0.0
 	);
 }
 
@@ -196,11 +196,11 @@ int INA238::collect()
 		bus_voltage = current = 0;
 	}
 
+	_battery.setConnected(success);
 	_battery.updateBatteryStatus(
 		hrt_absolute_time(),
 		(float) bus_voltage * INA238_VSCALE,
-		(float) current * _current_lsb,
-		success
+		(float) current * _current_lsb
 	);
 
 	perf_end(_sample_perf);
@@ -255,11 +255,11 @@ void INA238::RunImpl()
 		ScheduleDelayed(INA238_CONVERSION_INTERVAL);
 
 	} else {
+		_battery.setConnected(false);
 		_battery.updateBatteryStatus(
 			hrt_absolute_time(),
 			0.0f,
-			0.0f,
-			false
+			0.0f
 		);
 
 		if (init() != PX4_OK) {

src/drivers/power_monitor/voxlpm/voxlpm.cpp

@@ -71,11 +71,11 @@ VOXLPM::init()
 	int ret = PX4_ERROR;
 
 	if (_ch_type == VOXLPM_CH_TYPE_VBATT) {
+		_battery.setConnected(false);
 		_battery.updateBatteryStatus(
 			hrt_absolute_time(),
 			0.0,
-			0.0,
-			false
+			0.0
 		);
 	}
 
@@ -343,10 +343,11 @@ VOXLPM::measure()
 	if (ret == PX4_OK) {
 		switch (_ch_type) {
 		case VOXLPM_CH_TYPE_VBATT: {
+
+				_battery.setConnected(true);
 				_battery.updateBatteryStatus(tnow,
 							     _voltage,
-							     _amperage,
-							     true);
+							     _amperage);
 			}
 
 		// fallthrough
@@ -369,10 +370,10 @@ VOXLPM::measure()
 
 		switch (_ch_type) {
 		case VOXLPM_CH_TYPE_VBATT: {
+				_battery.setConnected(true);
 				_battery.updateBatteryStatus(tnow,
 							     0.0,
-							     0.0,
-							     true);
+							     0.0);
 			}
 			break;
 

src/lib/battery/battery.cpp

@@ -97,7 +97,7 @@ Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us,
 	updateParams();
 }
 
-void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v, float current_a, bool connected)
+void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v, float current_a)
 {
 	if (!_battery_initialized) {
 		_voltage_filter_v.reset(voltage_v);
@@ -110,7 +110,7 @@ void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v,
 	estimateStateOfCharge(_voltage_filter_v.getState(), _current_filter_a.getState());
 	computeScale();
 
-	if (connected && _battery_initialized) {
+	if (_connected && _battery_initialized) {
 		_warning = determineWarning(_state_of_charge);
 	}
 
@@ -118,7 +118,7 @@ void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v,
 		_battery_initialized = true;
 
 	} else {
-		connected = false;
+		_connected = false;
 	}
 
 	battery_status_s battery_status{};
@@ -133,7 +133,7 @@ void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v,
 	battery_status.time_remaining_s = computeRemainingTime(current_a);
 	battery_status.temperature = NAN;
 	battery_status.cell_count = _params.n_cells;
-	battery_status.connected = connected;
+	battery_status.connected = _connected;
 	battery_status.source = _source;
 	battery_status.priority = _priority;
 	battery_status.capacity = _params.capacity > 0.f ? static_cast<uint16_t>(_params.capacity) : 0;

src/lib/battery/battery.h

@@ -86,6 +86,7 @@ public:
 	float full_cell_voltage() { return _params.v_charged; }
 
 	void setPriority(const uint8_t priority) { _priority = priority; }
+	void setConnected(const bool connected) { _connected = connected; }
 
 	/**
 	 * Update current battery status message.
@@ -94,7 +95,7 @@ public:
 	 * @param current_raw: Battery current, in Amps
 	 * @param timestamp: Time at which the ADC was read (use hrt_absolute_time())
 	 */
-	void updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v, float current_a, bool connected);
+	void updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v, float current_a);
 
 protected:
 	struct {
@@ -138,6 +139,7 @@ private:
 	uORB::Subscription _actuator_controls_0_sub{ORB_ID(actuator_controls_0)};
 	uORB::PublicationMulti<battery_status_s> _battery_status_pub{ORB_ID(battery_status)};
 
+	bool _connected{false};
 	const uint8_t _source{};
 	uint8_t _priority{0};
 	bool _battery_initialized{false};

src/modules/battery_status/analog_battery.cpp

@@ -80,8 +80,8 @@ AnalogBattery::updateBatteryStatusADC(hrt_abstime timestamp, float voltage_raw,
 	bool connected = voltage_v > BOARD_ADC_OPEN_CIRCUIT_V &&
 			 (BOARD_ADC_OPEN_CIRCUIT_V <= BOARD_VALID_UV || is_valid());
 
-
-	Battery::updateBatteryStatus(timestamp, voltage_v, current_a, connected);
+	Battery::setConnected(connected);
+	Battery::updateBatteryStatus(timestamp, voltage_v, current_a);
 }
 
 bool AnalogBattery::is_valid()

src/modules/esc_battery/EscBattery.cpp

@@ -99,13 +99,11 @@ EscBattery::Run()
 
 		average_voltage_v /= esc_status.esc_count;
 
-		const bool connected = true;
-
+		_battery.setConnected(true);
 		_battery.updateBatteryStatus(
 			esc_status.timestamp,
 			average_voltage_v,
-			total_current_a,
-			connected);
+			total_current_a);
 	}
 }
 

src/modules/simulator/battery_simulator/BatterySimulator.cpp

@@ -99,7 +99,8 @@ 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);
+	_battery.setConnected(true);
+	_battery.updateBatteryStatus(now_us, vbatt, ibatt);
 
 	perf_end(_loop_perf);
 }