Make all battery sensor drivers report their sample interval

To make use of the time abstraction in the leaky integrator.

src/modules/battery_status/analog_battery.cpp

@@ -15,8 +15,8 @@ static constexpr int DEFAULT_V_CHANNEL[1] = {0};
 static constexpr int DEFAULT_I_CHANNEL[1] = {0};
 #endif
 
-AnalogBattery::AnalogBattery(int index, ModuleParams *parent) :
-	Battery(index, parent)
+AnalogBattery::AnalogBattery(int index, ModuleParams *parent, const int sample_interval_us) :
+	Battery(index, parent, sample_interval_us)
 {
 	char param_name[17];
 

src/modules/battery_status/analog_battery.h

@@ -39,7 +39,7 @@
 class AnalogBattery : public Battery
 {
 public:
-	AnalogBattery(int index, ModuleParams *parent);
+	AnalogBattery(int index, ModuleParams *parent, const int sample_interval_us);
 
 	/**
 	 * Update current battery status message.

src/modules/battery_status/battery_status.cpp

@@ -103,6 +103,9 @@ private:
 	uORB::Subscription	_parameter_update_sub{ORB_ID(parameter_update)};				/**< notification of parameter updates */
 	uORB::Subscription	_adc_report_sub{ORB_ID(adc_report)};
 
+	static constexpr uint32_t SAMPLE_FREQUENCY_HZ = 100;
+	static constexpr uint32_t SAMPLE_INTERVAL_US  = 1_s / SAMPLE_FREQUENCY_HZ;
+
 	AnalogBattery _battery1;
 
 #if BOARD_NUMBER_BRICKS > 1
@@ -135,9 +138,9 @@ private:
 BatteryStatus::BatteryStatus() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
-	_battery1(1, this),
+	_battery1(1, this, SAMPLE_INTERVAL_US),
 #if BOARD_NUMBER_BRICKS > 1
-	_battery2(2, this),
+	_battery2(2, this, SAMPLE_INTERVAL_US),
 #endif
 	_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME))
 {
@@ -277,7 +280,7 @@ BatteryStatus::task_spawn(int argc, char *argv[])
 bool
 BatteryStatus::init()
 {
-	ScheduleOnInterval(10_ms); // 100 Hz
+	ScheduleOnInterval(SAMPLE_INTERVAL_US);
 
 	return true;
 }

src/modules/esc_battery/EscBattery.cpp

@@ -38,7 +38,7 @@ using namespace time_literals;
 EscBattery::EscBattery() :
 	ModuleParams(nullptr),
 	WorkItem(MODULE_NAME, px4::wq_configurations::lp_default),
-	_battery(1, this)
+	_battery(1, this, ESC_BATTERY_INTERVAL_US)
 {
 }
 
@@ -50,6 +50,8 @@ EscBattery::init()
 		return false;
 	}
 
+	_esc_status_sub.set_interval_us(ESC_BATTERY_INTERVAL_US);
+
 	return true;
 }
 

src/modules/esc_battery/EscBattery.hpp

@@ -47,6 +47,8 @@
 #include <uORB/topics/actuator_controls.h>
 #include <battery/battery.h>
 
+using namespace time_literals;
+
 class EscBattery : public ModuleBase<EscBattery>, public ModuleParams, public px4::WorkItem
 {
 public:
@@ -73,5 +75,6 @@ private:
 	uORB::Subscription _actuator_ctrl_0_sub{ORB_ID(actuator_controls_0)};
 	uORB::SubscriptionCallbackWorkItem _esc_status_sub{this, ORB_ID(esc_status)};
 
+	static constexpr uint32_t ESC_BATTERY_INTERVAL_US = 20_ms; // assume higher frequency esc feedback than 50Hz
 	Battery _battery;
 };

src/modules/simulator/simulator.h

@@ -81,6 +81,8 @@
 #include <v2.0/mavlink_types.h>
 #include <lib/battery/battery.h>
 
+using namespace time_literals;
+
 //! Enumeration to use on the bitmask in HIL_SENSOR
 enum class SensorSource {
 	ACCEL		= 0b111,
@@ -193,7 +195,10 @@ private:
 	class SimulatorBattery : public Battery
 	{
 	public:
-		SimulatorBattery() : Battery(1, nullptr) {}
+		static constexpr uint32_t SIMLATOR_BATTERY_SAMPLE_FREQUENCY_HZ = 100; // Hz
+		static constexpr uint32_t SIMLATOR_BATTERY_SAMPLE_INTERVAL_US = 1_s / SIMLATOR_BATTERY_SAMPLE_FREQUENCY_HZ;
+
+		SimulatorBattery() : Battery(1, nullptr, SIMLATOR_BATTERY_SAMPLE_INTERVAL_US) {}
 
 		virtual void updateParams() override
 		{

src/modules/simulator/simulator_mavlink.cpp

@@ -350,7 +350,7 @@ void Simulator::handle_message_hil_sensor(const mavlink_message_t *msg)
 	static uint64_t last_integration_us = 0;
 
 	// battery simulation (limit update to 100Hz)
-	if (hrt_elapsed_time(&_last_battery_timestamp) >= 10_ms) {
+	if (hrt_elapsed_time(&_last_battery_timestamp) >= SimulatorBattery::SIMLATOR_BATTERY_SAMPLE_INTERVAL_US) {
 
 		const float discharge_interval_us = _param_sim_bat_drain.get() * 1000 * 1000;