From 839ba751ccfd32fc2b85536ed4f1d4c797483a37 Mon Sep 17 00:00:00 2001
From: RomanBapst <bapstroman@gmail.com>
Date: Fri, 6 Oct 2023 17:35:43 +0300
Subject: [PATCH] battery: update parameters on change

Signed-off-by: RomanBapst <bapstroman@gmail.com>
---
 src/lib/battery/battery.cpp | 8 ++++++++
 src/lib/battery/battery.h   | 5 +++++
 2 files changed, 13 insertions(+)

diff --git a/src/lib/battery/battery.cpp b/src/lib/battery/battery.cpp
index 2ed157dee4..3ea9f69c60 100644
--- a/src/lib/battery/battery.cpp
+++ b/src/lib/battery/battery.cpp
@@ -113,6 +113,14 @@ void Battery::updateCurrent(const float current_a)
 
 void Battery::updateBatteryStatus(const hrt_abstime &timestamp)
 {
+	if (_parameter_update_sub.updated()) {
+		// Read from topic to clear updated flag
+		parameter_update_s parameter_update;
+		_parameter_update_sub.copy(&parameter_update);
+
+		updateParams();
+	}
+
 	if (!_battery_initialized) {
 		_voltage_filter_v.reset(_voltage_v);
 		_current_filter_a.reset(_current_a);
diff --git a/src/lib/battery/battery.h b/src/lib/battery/battery.h
index 26dc4e3e61..762c9bf5f5 100644
--- a/src/lib/battery/battery.h
+++ b/src/lib/battery/battery.h
@@ -58,6 +58,10 @@
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/vehicle_thrust_setpoint.h>
+#include <uORB/SubscriptionInterval.hpp>
+#include <uORB/topics/parameter_update.h>
+
+using namespace time_literals;
 
 /**
  * BatteryBase is a base class for any type of battery.
@@ -156,6 +160,7 @@ private:
 	uORB::Subscription _vehicle_thrust_setpoint_0_sub{ORB_ID(vehicle_thrust_setpoint)};
 	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
 	uORB::PublicationMulti<battery_status_s> _battery_status_pub{ORB_ID(battery_status)};
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
 	bool _external_state_of_charge{false}; ///< inticates that the soc is injected and not updated by this library