refactor Battery: replace BlockParam* with Param* classes

src/modules/sensors/sensors.cpp

@@ -45,6 +45,7 @@
 
 #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>
@@ -129,7 +130,7 @@ using namespace sensors;
  */
 extern "C" __EXPORT int sensors_main(int argc, char *argv[]);
 
-class Sensors : public ModuleBase<Sensors>
+class Sensors : public ModuleBase<Sensors>, public ModuleParams
 {
 public:
 	Sensors(bool hil_enabled);
@@ -229,6 +230,7 @@ private:
 };
 
 Sensors::Sensors(bool hil_enabled) :
+	ModuleParams(nullptr),
 	_hil_enabled(hil_enabled),
 	_loop_perf(perf_alloc(PC_ELAPSED, "sensors")),
 	_rc_update(_parameters),
@@ -238,6 +240,10 @@ Sensors::Sensors(bool hil_enabled) :
 
 	_airspeed_validator.set_timeout(300000);
 	_airspeed_validator.set_equal_value_threshold(100);
+
+	for (int b = 0; b < BOARD_NUMBER_BRICKS; b++) {
+		_battery[b].setParent(this);
+	}
 }
 
 int
@@ -396,6 +402,7 @@ Sensors::parameter_update_poll(bool forced)
 		orb_copy(ORB_ID(parameter_update), _params_sub, &update);
 
 		parameters_update();
+		updateParams();
 
 		/* update airspeed scale */
 		int fd = px4_open(AIRSPEED0_DEVICE_PATH, 0);
@@ -413,10 +420,6 @@ Sensors::parameter_update_poll(bool forced)
 
 			px4_close(fd);
 		}
-
-		for (int b = 0; b < BOARD_NUMBER_BRICKS; b++) {
-			_battery[b].updateParams();
-		}
 	}
 }
 

src/modules/systemlib/battery.cpp

@@ -43,25 +43,12 @@
 #include <mathlib/mathlib.h>
 
 Battery::Battery() :
-	SuperBlock(nullptr, "BAT"),
-	_v_empty(this, "V_EMPTY"),
-	_v_charged(this, "V_CHARGED"),
-	_n_cells(this, "N_CELLS"),
-	_capacity(this, "CAPACITY"),
-	_v_load_drop(this, "V_LOAD_DROP"),
-	_r_internal(this, "R_INTERNAL"),
-	_low_thr(this, "LOW_THR"),
-	_crit_thr(this, "CRIT_THR"),
-	_emergency_thr(this, "EMERGEN_THR"),
+	ModuleParams(nullptr),
 	_warning(battery_status_s::BATTERY_WARNING_NONE),
 	_last_timestamp(0)
 {
 }
 
-Battery::~Battery()
-{
-}
-
 void
 Battery::reset(battery_status_s *battery_status)
 {

src/modules/systemlib/battery.h

@@ -41,25 +41,16 @@
 
 #pragma once
 
-#include <controllib/blocks.hpp>
-#include <controllib/block/BlockParam.hpp>
 #include <uORB/topics/battery_status.h>
 #include <drivers/drv_hrt.h>
+#include <px4_module_params.h>
 
 
-class Battery : public control::SuperBlock
+class Battery : public ModuleParams
 {
 public:
-	/**
-	 * Constructor
-	 */
 	Battery();
 
-	/**
-	 * Destructor
-	 */
-	~Battery();
-
 	/**
 	 * Reset all battery stats and report invalid/nothing.
 	 */
@@ -103,15 +94,17 @@ private:
 	void determineWarning(bool connected);
 	void computeScale();
 
-	control::BlockParamFloat _v_empty;
-	control::BlockParamFloat _v_charged;
-	control::BlockParamInt _n_cells;
-	control::BlockParamFloat _capacity;
-	control::BlockParamFloat _v_load_drop;
-	control::BlockParamFloat _r_internal;
-	control::BlockParamFloat _low_thr;
-	control::BlockParamFloat _crit_thr;
-	control::BlockParamFloat _emergency_thr;
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::BAT_V_EMPTY>) _v_empty,
+		(ParamFloat<px4::params::BAT_V_CHARGED>) _v_charged,
+		(ParamInt<px4::params::BAT_N_CELLS>) _n_cells,
+		(ParamFloat<px4::params::BAT_CAPACITY>) _capacity,
+		(ParamFloat<px4::params::BAT_V_LOAD_DROP>) _v_load_drop,
+		(ParamFloat<px4::params::BAT_R_INTERNAL>) _r_internal,
+		(ParamFloat<px4::params::BAT_LOW_THR>) _low_thr,
+		(ParamFloat<px4::params::BAT_CRIT_THR>) _crit_thr,
+		(ParamFloat<px4::params::BAT_EMERGEN_THR>) _emergency_thr
+	)
 
 	bool _battery_initialized = false;
 	float _voltage_filtered_v = -1.f;