Refactored to work with new battery_status module

src/drivers/driver_framework_wrapper/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp

@@ -101,7 +101,7 @@ private:
 	orb_advert_t _battery_topic;
 	orb_advert_t _esc_topic;
 
-	Battery1 _battery;
+	Battery _battery;
 	bool _armed;
 	float _last_throttle;
 
@@ -203,6 +203,10 @@ int DfBebopBusWrapper::_publish(struct bebop_state_data &data)
 
 	const hrt_abstime timestamp = hrt_absolute_time();
 
+	// 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, true, true, 0, _last_throttle, _armed, false);
+
 	esc_status_s esc_status = {};
 
 	uint16_t esc_speed_setpoint_rpm[4] = {};
@@ -218,9 +222,7 @@ int DfBebopBusWrapper::_publish(struct bebop_state_data &data)
 	// TODO: when is this ever blocked?
 	if (!(m_pub_blocked)) {
 
-		// 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, true, true, 0, _last_throttle, _armed, true);
+		_battery.publish();
 
 		if (_esc_topic == nullptr) {
 			_esc_topic = orb_advertise(ORB_ID(esc_status), &esc_status);

src/drivers/driver_framework_wrapper/df_ltc2946_wrapper/df_ltc2946_wrapper.cpp

@@ -69,7 +69,7 @@ public:
 private:
 	int _publish(const struct ltc2946_sensor_data &data);
 
-	Battery1 _battery{};
+	Battery _battery{};
 
 	int _actuator_ctrl_0_sub{-1};
 	int _vcontrol_mode_sub{-1};

src/drivers/power_monitor/voxlpm/voxlpm.cpp

@@ -78,7 +78,7 @@ VOXLPM::init()
 	write_reg(DEFAULT_CTRLA_REG_VAL, VOXLPM_LTC2946_CTRLA_REG);
 	write_reg(DEFAULT_CTRLB_REG_VAL, VOXLPM_LTC2946_CTRLB_REG);
 
-	_battery.reset(&_bat_status);
+	_battery.reset();
 
 	start();
 
@@ -153,9 +153,7 @@ VOXLPM::measure()
 
 		switch (_ch_type) {
 		case VOXLPM_CH_TYPE_VBATT: {
-				_battery.updateBatteryStatus(tnow, _voltage, _amperage, true, true, 0, 0, false, &_bat_status);
-
-				_bat_pub_topic.publish(_bat_status);
+				_battery.updateBatteryStatus(tnow, _voltage, _amperage, true, true, 0, 0, false, true);
 			}
 
 		// fallthrough
@@ -176,9 +174,7 @@ VOXLPM::measure()
 	} else {
 		switch (_ch_type) {
 		case VOXLPM_CH_TYPE_VBATT: {
-				_battery.updateBatteryStatus(tnow, 0.0, 0.0, true, true, 0, 0, false, &_bat_status);
-
-				_bat_pub_topic.publish(_bat_status);
+				_battery.updateBatteryStatus(tnow, 0.0, 0.0, true, true, 0, 0, false, true);
 			}
 			break;
 

src/drivers/power_monitor/voxlpm/voxlpm.hpp

@@ -160,10 +160,8 @@ private:
 
 	perf_counter_t		_sample_perf;
 
-	uORB::PublicationMulti<battery_status_s>	_bat_pub_topic{ORB_ID(battery_status)};
 	uORB::PublicationMulti<power_monitor_s>		_pm_pub_topic{ORB_ID(power_monitor)};
 
-	battery_status_s	_bat_status{};
 	power_monitor_s 	_pm_status{};
 
 	VOXLPM_CH_TYPE		_ch_type;