From 4b0f1a6fb1e5baf01205106e6954dab99e2cbe86 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 23 Apr 2016 14:25:21 +0200
Subject: [PATCH] Battery lib: Fix interfaces and params

---
 src/modules/systemlib/battery.cpp      | 20 ++++++++------------
 src/modules/systemlib/battery.h        | 17 ++++++++++++++++-
 src/modules/systemlib/battery_params.c |  2 --
 3 files changed, 24 insertions(+), 15 deletions(-)

diff --git a/src/modules/systemlib/battery.cpp b/src/modules/systemlib/battery.cpp
index 11a47f3728..0237dee700 100644
--- a/src/modules/systemlib/battery.cpp
+++ b/src/modules/systemlib/battery.cpp
@@ -42,12 +42,12 @@
 #include "battery.h"
 
 Battery::Battery() :
-	SuperBlock(NULL, ""),
-	_param_v_empty(this, "BAT_V_EMPTY", false),
-	_param_v_full(this, "BAT_V_CHARGED", false),
-	_param_n_cells(this, "BAT_N_CELLS", false),
-	_param_capacity(this, "BAT_CAPACITY", false),
-	_param_v_load_drop(this, "BAT_V_LOAD_DROP", false),
+	SuperBlock(NULL, "BAT"),
+	_param_v_empty(this, "V_EMPTY"),
+	_param_v_full(this, "V_CHARGED"),
+	_param_n_cells(this, "N_CELLS"),
+	_param_capacity(this, "CAPACITY"),
+	_param_v_load_drop(this, "V_LOAD_DROP"),
 	_voltage_filtered_v(0.0f),
 	_throttle_filtered(0.0f),
 	_discharged_mah(0.0f),
@@ -66,10 +66,8 @@ Battery::~Battery()
 void
 Battery::reset(battery_status_s *battery_status)
 {
-	battery_status->voltage_v = 0.0f;
-	battery_status->voltage_filtered_v = 0.0f;
+	memset(battery_status, 0, sizeof(*battery_status));
 	battery_status->current_a = -1.0f;
-	battery_status->discharged_mah = -1.0f;
 	battery_status->remaining = 0.0f;
 	battery_status->cell_count = _param_n_cells.get();
 	// TODO: check if it is sane to reset warning to NONE
@@ -80,6 +78,7 @@ void
 Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a, float throttle_normalized,
 			     battery_status_s *battery_status)
 {
+	reset(battery_status);
 	battery_status->timestamp = timestamp;
 	filterVoltage(voltage_v);
 	sumDischarged(timestamp, current_a);
@@ -91,12 +90,9 @@ Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float curre
 		battery_status->voltage_filtered_v = _voltage_filtered_v;
 		battery_status->current_a = current_a;
 		battery_status->discharged_mah = _discharged_mah;
-		battery_status->cell_count = _param_n_cells.get();
 		battery_status->warning = _warning;
 		battery_status->remaining = _remaining;
 
-	} else {
-		reset(battery_status);
 	}
 }
 
diff --git a/src/modules/systemlib/battery.h b/src/modules/systemlib/battery.h
index e85c19b775..6b909a275f 100644
--- a/src/modules/systemlib/battery.h
+++ b/src/modules/systemlib/battery.h
@@ -65,6 +65,21 @@ public:
 	 */
 	void reset(battery_status_s *battery_status);
 
+	/**
+	 * Get the battery cell count
+	 */
+	int cell_count() { return _param_n_cells.get(); }
+
+	/**
+	 * Get the empty voltage per cell
+	 */
+	float empty_cell_voltage() { return _param_v_empty.get(); }
+
+	/**
+	 * Get the full voltage per cell
+	 */
+	float full_cell_voltage() { return _param_v_full.get(); }
+
 	/**
 	 * Update current battery status message.
 	 *
@@ -83,7 +98,7 @@ private:
 
 	control::BlockParamFloat _param_v_empty;
 	control::BlockParamFloat _param_v_full;
-	control::BlockParamFloat _param_n_cells;
+	control::BlockParamInt _param_n_cells;
 	control::BlockParamFloat _param_capacity;
 	control::BlockParamFloat _param_v_load_drop;
 
diff --git a/src/modules/systemlib/battery_params.c b/src/modules/systemlib/battery_params.c
index bc7bb77347..72d71c53b3 100644
--- a/src/modules/systemlib/battery_params.c
+++ b/src/modules/systemlib/battery_params.c
@@ -88,8 +88,6 @@ PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.07f);
  *
  * @group Battery Calibration
  * @unit S
- * @min 2
- * @max 10
  * @value 2 2S Battery
  * @value 3 3S Battery
  * @value 4 4S Battery