Added Power Brick related battery_status.msg fields

system_source - This battery status is for the brick that is
                   supplying VDD_5V_IN
   priority      - Zero based, This battery status is for the brick
                   that is connected to the Power controller's
                   N-1 priority input. V1..VN. 0 would normally be
                   Brick1, 1 for Brick2 etc

  Battery now assigns connected from the api in the
  updateBatteryStatus, as well as system_source and priority

msg/battery_status.msg

@@ -6,7 +6,10 @@ float32 discharged_mah		# Discharged amount in mAh, -1 if unknown
 float32 remaining		# From 1 to 0, -1 if unknown
 float32 scale		# Power scaling factor, >= 1, or -1 if unknown
 int32 cell_count		# Number of cells
-bool connected			# Wether or not a battery is connected
+bool connected			# Whether or not a battery is connected, based on a voltage threshold
+bool system_source		# Whether or not a this battery is the active power source for VDD_5V_IN
+uint8 priority        	# Zerro based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
+
 #bool is_powering_off		# Power off event imminent indication, false if unknown
 
 

src/drivers/px4io/px4io.cpp

@@ -1798,7 +1798,9 @@ PX4IO::io_handle_battery(uint16_t vbatt, uint16_t ibatt)
 	float current_a = ibatt * (3.3f / 4096.0f) * _battery_amp_per_volt;
 	current_a += _battery_amp_bias;
 
-	_battery.updateBatteryStatus(timestamp, voltage_v, current_a, _last_throttle, _armed, &battery_status);
+	_battery.updateBatteryStatus(timestamp, voltage_v, current_a, true, true, 0,
+				     _last_throttle,
+				     _armed, &battery_status);
 
 	/* the announced battery status would conflict with the simulated battery status in HIL */
 	if (!(_pub_blocked)) {

src/modules/simulator/simulator_mavlink.cpp

@@ -331,7 +331,7 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
 
 			// TODO: don't hard-code throttle.
 			const float throttle = 0.5f;
-			_battery.updateBatteryStatus(now, vbatt, ibatt, throttle, armed, &battery_status);
+			_battery.updateBatteryStatus(now, vbatt, ibatt, true, true, 0, throttle, armed, &battery_status);
 
 			// publish the battery voltage
 			int batt_multi;

src/modules/syslink/syslink_main.cpp

@@ -414,7 +414,7 @@ Syslink::handle_message(syslink_message_t *msg)
 		memcpy(&vbat, &msg->data[1], sizeof(float));
 		//memcpy(&iset, &msg->data[5], sizeof(float));
 
-		_battery.updateBatteryStatus(t, vbat, -1, 0, false, &_battery_status);
+		_battery.updateBatteryStatus(t, vbat, -1, true, true, 0, 0, false, &_battery_status);
 
 
 		// Update battery charge state

src/modules/systemlib/battery.cpp

@@ -83,7 +83,9 @@ Battery::reset(battery_status_s *battery_status)
 }
 
 void
-Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a, float throttle_normalized,
+Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a,
+			     bool connected, bool selected_source, int priority,
+			     float throttle_normalized,
 			     bool armed, battery_status_s *battery_status)
 {
 	reset(battery_status);
@@ -104,7 +106,9 @@ Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float curre
 		battery_status->discharged_mah = _discharged_mah;
 		battery_status->warning = _warning;
 		battery_status->remaining = _remaining;
-		battery_status->connected = true;
+		battery_status->connected = connected;
+		battery_status->system_source = selected_source;
+		battery_status->priority = priority;
 	}
 }
 

src/modules/systemlib/battery.h

@@ -85,9 +85,14 @@ public:
 	 *
 	 * @param voltage_v: current voltage in V
 	 * @param current_a: current current in A
+	 * @param connected: Battery is connected
+	 * @param selected_source: This battery is on the brick that the selected source for selected_source
+	 * @param priority: The brick number -1. The term priority refers to the Vn connection on the LTC4417
 	 * @param throttle_normalized: throttle from 0 to 1
 	 */
-	void updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a, float throttle_normalized,
+	void updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a,
+				 bool connected, bool selected_source, int priority,
+				 float throttle_normalized,
 				 bool armed, battery_status_s *status);
 
 private:

src/platforms/posix/drivers/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp

@@ -202,7 +202,8 @@ int DfBebopBusWrapper::_publish(struct bebop_state_data &data)
 
 	// TODO Check if this is the right way for the Bebop
 	// We don't have current measurements
-	_battery.updateBatteryStatus(timestamp, data.battery_voltage_v, 0.0, _last_throttle, _armed, &battery_report);
+	_battery.updateBatteryStatus(timestamp, data.battery_voltage_v, 0.0, true, true, 0, _last_throttle, _armed,
+				     &battery_report);
 
 	esc_status_s esc_status = {};