sensors: split out analog battery handling to new standalone battery_status module

src/modules/battery_status/CMakeLists.txt

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+############################################################################
+#
+#   Copyright (c) 2015-2019 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
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__battery_status
+	MAIN battery_status
+	SRCS
+		battery_status.cpp
+		parameters.cpp
+
+	DEPENDS
+		battery
+		conversion
+		drivers__device
+		mathlib
+	)

src/modules/battery_status/battery_status.cpp

@@ -0,0 +1,451 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2019 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file sensors.cpp
+ *
+ * @author Lorenz Meier <lorenz@px4.io>
+ * @author Julian Oes <julian@oes.ch>
+ * @author Thomas Gubler <thomas@px4.io>
+ * @author Anton Babushkin <anton@px4.io>
+ * @author Beat Küng <beat-kueng@gmx.net>
+ */
+
+#include <px4_config.h>
+#include <px4_module.h>
+#include <px4_module_params.h>
+#include <px4_getopt.h>
+#include <px4_posix.h>
+#include <px4_tasks.h>
+#include <px4_time.h>
+#include <px4_log.h>
+#include <lib/mathlib/mathlib.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_adc.h>
+#include <lib/parameters/param.h>
+#include <lib/perf/perf_counter.h>
+#include <lib/battery/battery.h>
+#include <lib/conversion/rotation.h>
+#include <uORB/Subscription.hpp>
+#include <uORB/Publication.hpp>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/vehicle_control_mode.h>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/battery_status.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+
+#include <DevMgr.hpp>
+
+#include "parameters.h"
+
+using namespace DriverFramework;
+using namespace battery_status;
+using namespace time_literals;
+
+/**
+ * Analog layout:
+ * FMU:
+ * IN2 - battery voltage
+ * IN3 - battery current
+ * IN4 - 5V sense
+ * IN10 - spare (we could actually trim these from the set)
+ * IN11 - spare on FMUv2 & v3, RC RSSI on FMUv4
+ * IN12 - spare (we could actually trim these from the set)
+ * IN13 - aux1 on FMUv2, unavaible on v3 & v4
+ * IN14 - aux2 on FMUv2, unavaible on v3 & v4
+ * IN15 - pressure sensor on FMUv2, unavaible on v3 & v4
+ *
+ * IO:
+ * IN4 - servo supply rail
+ * IN5 - analog RSSI on FMUv2 & v3
+ *
+ * The channel definitions (e.g., ADC_BATTERY_VOLTAGE_CHANNEL, ADC_BATTERY_CURRENT_CHANNEL, and ADC_AIRSPEED_VOLTAGE_CHANNEL) are defined in board_config.h
+ */
+
+/**
+ * Battery status app start / stop handling function
+ *
+ * @ingroup apps
+ */
+extern "C" __EXPORT int battery_status_main(int argc, char *argv[]);
+
+#ifndef BOARD_NUMBER_BRICKS
+#error "battery_status module requires power bricks"
+#endif
+
+#if BOARD_NUMBER_BRICKS == 0
+#error "battery_status module requires power bricks"
+#endif
+
+class BatteryStatus : public ModuleBase<BatteryStatus>, public ModuleParams, public px4::ScheduledWorkItem
+{
+public:
+	BatteryStatus();
+	~BatteryStatus() override;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	void Run() override;
+	bool init();
+
+	/** @see ModuleBase::print_status() */
+	int print_status() override;
+
+private:
+	DevHandle 	_h_adc;				/**< ADC driver handle */
+
+	bool		_armed{false};				/**< arming status of the vehicle */
+
+	uORB::Subscription	_actuator_ctrl_0_sub{ORB_ID(actuator_controls_0)};		/**< attitude controls sub */
+	uORB::Subscription	_parameter_update_sub{ORB_ID(parameter_update)};				/**< notification of parameter updates */
+	uORB::Subscription	_vcontrol_mode_sub{ORB_ID(vehicle_control_mode)};		/**< vehicle control mode subscription */
+
+	orb_advert_t	_battery_pub[BOARD_NUMBER_BRICKS] {};			/**< battery status */
+	Battery		_battery[BOARD_NUMBER_BRICKS];			/**< Helper lib to publish battery_status topic. */
+
+#if BOARD_NUMBER_BRICKS > 1
+	int 			_battery_pub_intance0ndx {0}; /**< track the index of instance 0 */
+#endif /* BOARD_NUMBER_BRICKS > 1 */
+
+	perf_counter_t	_loop_perf;			/**< loop performance counter */
+
+	hrt_abstime	_last_config_update{0};
+
+	Parameters		_parameters{};			/**< local copies of interesting parameters */
+	ParameterHandles	_parameter_handles{};		/**< handles for interesting parameters */
+
+	/**
+	 * Update our local parameter cache.
+	 */
+	int		parameters_update();
+
+	/**
+	 * Do adc-related initialisation.
+	 */
+	int		adc_init();
+
+	/**
+	 * Check for changes in parameters.
+	 */
+	void 		parameter_update_poll(bool forced = false);
+
+	/**
+	 * Poll the ADC and update readings to suit.
+	 *
+	 * @param raw			Combined sensor data structure into which
+	 *				data should be returned.
+	 */
+	void		adc_poll();
+};
+
+BatteryStatus::BatteryStatus() :
+	ModuleParams(nullptr),
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
+	_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME))
+{
+	initialize_parameter_handles(_parameter_handles);
+
+	for (int b = 0; b < BOARD_NUMBER_BRICKS; b++) {
+		_battery[b].setParent(this);
+	}
+}
+
+BatteryStatus::~BatteryStatus()
+{
+	ScheduleClear();
+}
+
+int
+BatteryStatus::parameters_update()
+{
+	/* read the parameter values into _parameters */
+	int ret = update_parameters(_parameter_handles, _parameters);
+
+	if (ret) {
+		return ret;
+	}
+
+	return ret;
+}
+
+int
+BatteryStatus::adc_init()
+{
+	DevMgr::getHandle(ADC0_DEVICE_PATH, _h_adc);
+
+	if (!_h_adc.isValid()) {
+		PX4_ERR("no ADC found: %s (%d)", ADC0_DEVICE_PATH, _h_adc.getError());
+		return PX4_ERROR;
+	}
+
+	return OK;
+}
+
+void
+BatteryStatus::parameter_update_poll(bool forced)
+{
+	// check for parameter updates
+	if (_parameter_update_sub.updated() || forced) {
+		// clear update
+		parameter_update_s pupdate;
+		_parameter_update_sub.copy(&pupdate);
+
+		// update parameters from storage
+		parameters_update();
+		updateParams();
+	}
+}
+
+void
+BatteryStatus::adc_poll()
+{
+	/* make space for a maximum of twelve channels (to ensure reading all channels at once) */
+	px4_adc_msg_t buf_adc[PX4_MAX_ADC_CHANNELS];
+
+	/* read all channels available */
+	int ret = _h_adc.read(&buf_adc, sizeof(buf_adc));
+
+	//todo:abosorb into new class Power
+
+	/* For legacy support we publish the battery_status for the Battery that is
+	 * associated with the Brick that is the selected source for VDD_5V_IN
+	 * Selection is done in HW ala a LTC4417 or similar, or may be hard coded
+	 * Like in the FMUv4
+	 */
+
+	/* The ADC channels that  are associated with each brick, in power controller
+	 * priority order highest to lowest, as defined by the board config.
+	 */
+	int bat_voltage_v_chan[BOARD_NUMBER_BRICKS] = BOARD_BATT_V_LIST;
+	int bat_voltage_i_chan[BOARD_NUMBER_BRICKS] = BOARD_BATT_I_LIST;
+
+	if (_parameters.battery_adc_channel >= 0) {  // overwrite default
+		bat_voltage_v_chan[0] = _parameters.battery_adc_channel;
+	}
+
+	/* The valid signals (HW dependent) are associated with each brick */
+	bool  valid_chan[BOARD_NUMBER_BRICKS] = BOARD_BRICK_VALID_LIST;
+
+	/* Per Brick readings with default unread channels at 0 */
+	float bat_current_a[BOARD_NUMBER_BRICKS] = {0.0f};
+	float bat_voltage_v[BOARD_NUMBER_BRICKS] = {0.0f};
+
+	/* Based on the valid_chan, used to indicate the selected the lowest index
+	 * (highest priority) supply that is the source for the VDD_5V_IN
+	 * When < 0 none selected
+	 */
+
+	int selected_source = -1;
+
+	if (ret >= (int)sizeof(buf_adc[0])) {
+
+		/* Read add channels we got */
+		for (unsigned i = 0; i < ret / sizeof(buf_adc[0]); i++) {
+			{
+				for (int b = 0; b < BOARD_NUMBER_BRICKS; b++) {
+
+					/* Once we have subscriptions, Do this once for the lowest (highest priority
+					 * supply on power controller) that is valid.
+					 */
+					if (_battery_pub[b] != nullptr && selected_source < 0 && valid_chan[b]) {
+						/* Indicate the lowest brick (highest priority supply on power controller)
+						 * that is valid as the one that is the selected source for the
+						 * VDD_5V_IN
+						 */
+						selected_source = b;
+#  if BOARD_NUMBER_BRICKS > 1
+
+						/* Move the selected_source to instance 0 */
+						if (_battery_pub_intance0ndx != selected_source) {
+
+							orb_advert_t tmp_h = _battery_pub[_battery_pub_intance0ndx];
+							_battery_pub[_battery_pub_intance0ndx] = _battery_pub[selected_source];
+							_battery_pub[selected_source] = tmp_h;
+							_battery_pub_intance0ndx = selected_source;
+						}
+
+#  endif /* BOARD_NUMBER_BRICKS > 1 */
+					}
+
+					// todo:per brick scaling
+					/* look for specific channels and process the raw voltage to measurement data */
+					if (bat_voltage_v_chan[b] == buf_adc[i].am_channel) {
+						/* Voltage in volts */
+						bat_voltage_v[b] = (buf_adc[i].am_data * _parameters.battery_voltage_scaling) * _parameters.battery_v_div;
+
+					} else if (bat_voltage_i_chan[b] == buf_adc[i].am_channel) {
+						bat_current_a[b] = ((buf_adc[i].am_data * _parameters.battery_current_scaling)
+								    - _parameters.battery_current_offset) * _parameters.battery_a_per_v;
+					}
+				}
+			}
+		}
+
+		if (_parameters.battery_source == 0) {
+			for (int b = 0; b < BOARD_NUMBER_BRICKS; b++) {
+
+				/* Consider the brick connected if there is a voltage */
+				bool connected = bat_voltage_v[b] > BOARD_ADC_OPEN_CIRCUIT_V;
+
+				/* In the case where the BOARD_ADC_OPEN_CIRCUIT_V is
+				 * greater than the BOARD_VALID_UV let the HW qualify that it
+				 * is connected.
+				 */
+				if (BOARD_ADC_OPEN_CIRCUIT_V > BOARD_VALID_UV) {
+					connected &= valid_chan[b];
+				}
+
+				actuator_controls_s ctrl{};
+				_actuator_ctrl_0_sub.copy(&ctrl);
+
+				battery_status_s battery_status{};
+				_battery[b].updateBatteryStatus(hrt_absolute_time(), bat_voltage_v[b], bat_current_a[b],
+								connected, selected_source == b, b,
+								ctrl.control[actuator_controls_s::INDEX_THROTTLE],
+								_armed, &battery_status);
+				int instance;
+				orb_publish_auto(ORB_ID(battery_status), &_battery_pub[b], &battery_status, &instance, ORB_PRIO_DEFAULT);
+			}
+		}
+	}
+}
+
+void
+BatteryStatus::Run()
+{
+	if (should_exit()) {
+		exit_and_cleanup();
+		return;
+	}
+
+	if (!_h_adc.isValid()) {
+		adc_init();
+	}
+
+	perf_begin(_loop_perf);
+
+	/* check vehicle status for changes to publication state */
+	if (_vcontrol_mode_sub.updated()) {
+		vehicle_control_mode_s vcontrol_mode{};
+		_vcontrol_mode_sub.copy(&vcontrol_mode);
+		_armed = vcontrol_mode.flag_armed;
+	}
+
+	/* check parameters for updates */
+	parameter_update_poll();
+
+	/* check battery voltage */
+	adc_poll();
+
+	perf_end(_loop_perf);
+}
+
+int
+BatteryStatus::task_spawn(int argc, char *argv[])
+{
+	BatteryStatus *instance = new BatteryStatus();
+
+	if (instance) {
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;
+
+	return PX4_ERROR;
+}
+
+bool
+BatteryStatus::init()
+{
+	ScheduleOnInterval(10_ms); // 100 Hz
+
+	return true;
+}
+
+int BatteryStatus::print_status()
+{
+	return 0;
+}
+
+int BatteryStatus::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int BatteryStatus::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+
+The provided functionality includes:
+- Read the output from the ADC driver (via ioctl interface) and publish `battery_status`.
+
+
+### Implementation
+It runs in its own thread and polls on the currently selected gyro topic.
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("battery_status", "system");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+int battery_status_main(int argc, char *argv[])
+{
+	return BatteryStatus::main(argc, argv);
+}

src/modules/battery_status/parameters.cpp

@@ -0,0 +1,117 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016-2019 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file parameters.cpp
+ *
+ * @author Beat Kueng <beat-kueng@gmx.net>
+ */
+
+#include "parameters.h"
+
+#include <px4_log.h>
+
+namespace battery_status
+{
+
+void initialize_parameter_handles(ParameterHandles &parameter_handles)
+{
+	parameter_handles.battery_voltage_scaling = param_find("BAT_CNT_V_VOLT");
+	parameter_handles.battery_current_scaling = param_find("BAT_CNT_V_CURR");
+	parameter_handles.battery_current_offset = param_find("BAT_V_OFFS_CURR");
+	parameter_handles.battery_v_div = param_find("BAT_V_DIV");
+	parameter_handles.battery_a_per_v = param_find("BAT_A_PER_V");
+	parameter_handles.battery_source = param_find("BAT_SOURCE");
+	parameter_handles.battery_adc_channel = param_find("BAT_ADC_CHANNEL");
+}
+
+int update_parameters(const ParameterHandles &parameter_handles, Parameters &parameters)
+{
+	int ret = PX4_OK;
+
+	const char *paramerr = "FAIL PARM LOAD";
+
+	/* scaling of ADC ticks to battery voltage */
+	if (param_get(parameter_handles.battery_voltage_scaling, &(parameters.battery_voltage_scaling)) != OK) {
+		PX4_WARN("%s", paramerr);
+
+	} else if (parameters.battery_voltage_scaling < 0.0f) {
+		/* apply scaling according to defaults if set to default */
+		parameters.battery_voltage_scaling = (3.3f / 4096);
+		param_set_no_notification(parameter_handles.battery_voltage_scaling, &parameters.battery_voltage_scaling);
+	}
+
+	/* scaling of ADC ticks to battery current */
+	if (param_get(parameter_handles.battery_current_scaling, &(parameters.battery_current_scaling)) != OK) {
+		PX4_WARN("%s", paramerr);
+
+	} else if (parameters.battery_current_scaling < 0.0f) {
+		/* apply scaling according to defaults if set to default */
+		parameters.battery_current_scaling = (3.3f / 4096);
+		param_set_no_notification(parameter_handles.battery_current_scaling, &parameters.battery_current_scaling);
+	}
+
+	if (param_get(parameter_handles.battery_current_offset, &(parameters.battery_current_offset)) != OK) {
+		PX4_WARN("%s", paramerr);
+
+	}
+
+	if (param_get(parameter_handles.battery_v_div, &(parameters.battery_v_div)) != OK) {
+		PX4_WARN("%s", paramerr);
+		parameters.battery_v_div = 0.0f;
+
+	} else if (parameters.battery_v_div <= 0.0f) {
+		/* apply scaling according to defaults if set to default */
+
+		parameters.battery_v_div = BOARD_BATTERY1_V_DIV;
+		param_set_no_notification(parameter_handles.battery_v_div, &parameters.battery_v_div);
+	}
+
+	if (param_get(parameter_handles.battery_a_per_v, &(parameters.battery_a_per_v)) != OK) {
+		PX4_WARN("%s", paramerr);
+		parameters.battery_a_per_v = 0.0f;
+
+	} else if (parameters.battery_a_per_v <= 0.0f) {
+		/* apply scaling according to defaults if set to default */
+
+		parameters.battery_a_per_v = BOARD_BATTERY1_A_PER_V;
+		param_set_no_notification(parameter_handles.battery_a_per_v, &parameters.battery_a_per_v);
+	}
+
+	param_get(parameter_handles.battery_source,      &(parameters.battery_source));
+	param_get(parameter_handles.battery_adc_channel, &(parameters.battery_adc_channel));
+
+	return ret;
+}
+
+} /* namespace battery_status */

src/modules/battery_status/parameters.h

@@ -0,0 +1,84 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+/**
+ * @file parameters.h
+ *
+ * defines the list of parameters that are used within the sensors module
+ *
+ * @author Beat Kueng <beat-kueng@gmx.net>
+ */
+#include <px4_config.h>
+#include <drivers/drv_rc_input.h>
+
+#include <parameters/param.h>
+#include <mathlib/mathlib.h>
+
+namespace battery_status
+{
+
+struct Parameters {
+	float battery_voltage_scaling;
+	float battery_current_scaling;
+	float battery_current_offset;
+	float battery_v_div;
+	float battery_a_per_v;
+	int32_t battery_source;
+	int32_t battery_adc_channel;
+};
+
+struct ParameterHandles {
+	param_t battery_voltage_scaling;
+	param_t battery_current_scaling;
+	param_t battery_current_offset;
+	param_t battery_v_div;
+	param_t battery_a_per_v;
+	param_t battery_source;
+	param_t battery_adc_channel;
+};
+
+/**
+ * initialize ParameterHandles struct
+ */
+void initialize_parameter_handles(ParameterHandles &parameter_handles);
+
+
+/**
+ * Read out the parameters using the handles into the parameters struct.
+ * @return 0 on success, <0 on error
+ */
+int update_parameters(const ParameterHandles &parameter_handles, Parameters &parameters);
+
+} /* namespace sensors */

src/modules/battery_status/sensor_params_battery.c

@@ -0,0 +1,117 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2017 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * Scaling from ADC counts to volt on the ADC input (battery voltage)
+ *
+ * This is not the battery voltage, but the intermediate ADC voltage.
+ * A value of -1 signifies that the board defaults are used, which is
+ * highly recommended.
+ *
+ * @group Battery Calibration
+ * @decimal 8
+ */
+PARAM_DEFINE_FLOAT(BAT_CNT_V_VOLT, -1.0f);
+
+/**
+ * Scaling from ADC counts to volt on the ADC input (battery current)
+ *
+ * This is not the battery current, but the intermediate ADC voltage.
+ * A value of -1 signifies that the board defaults are used, which is
+ * highly recommended.
+ *
+ * @group Battery Calibration
+ * @decimal 8
+ */
+PARAM_DEFINE_FLOAT(BAT_CNT_V_CURR, -1.0);
+
+/**
+ * Offset in volt as seen by the ADC input of the current sensor.
+ *
+ * This offset will be subtracted before calculating the battery
+ * current based on the voltage.
+ *
+ * @group Battery Calibration
+ * @decimal 8
+ */
+PARAM_DEFINE_FLOAT(BAT_V_OFFS_CURR, 0.0);
+
+/**
+ * Battery voltage divider (V divider)
+ *
+ * This is the divider from battery voltage to 3.3V ADC voltage.
+ * If using e.g. Mauch power modules the value from the datasheet
+ * can be applied straight here. A value of -1 means to use
+ * the board default.
+ *
+ * @group Battery Calibration
+ * @decimal 8
+ */
+PARAM_DEFINE_FLOAT(BAT_V_DIV, -1.0);
+
+/**
+ * Battery current per volt (A/V)
+ *
+ * The voltage seen by the 3.3V ADC multiplied by this factor
+ * will determine the battery current. A value of -1 means to use
+ * the board default.
+ *
+ * @group Battery Calibration
+ * @decimal 8
+ */
+PARAM_DEFINE_FLOAT(BAT_A_PER_V, -1.0);
+
+/**
+ * Battery monitoring source.
+ *
+ * This parameter controls the source of battery data. The value 'Power Module'
+ * means that measurements are expected to come from a power module. If the value is set to
+ * 'External' then the system expects to receive mavlink battery status messages.
+ *
+ * @min 0
+ * @max 1
+ * @value 0 Power Module
+ * @value 1 External
+ * @group Battery Calibration
+ */
+PARAM_DEFINE_INT32(BAT_SOURCE, 0);
+
+/**
+ * Battery ADC Channel
+ *
+ * This parameter specifies the ADC channel used to monitor voltage of main power battery.
+ * A value of -1 means to use the board default.
+ *
+ * @group Battery Calibration
+ */
+PARAM_DEFINE_INT32(BAT_ADC_CHANNEL, -1);