battery: fetch throttle value inside of class

src/lib/battery/battery.cpp

@@ -97,19 +97,17 @@ Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us)
 }
 
 void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v, float current_a, bool connected,
-				  int source, int priority, float throttle_normalized)
+				  int source, int priority)
 {
 	if (!_battery_initialized) {
 		_voltage_filter_v.reset(voltage_v);
 		_current_filter_a.reset(current_a);
-		_throttle_filter.reset(throttle_normalized);
 	}
 
 	_voltage_filter_v.update(voltage_v);
 	_current_filter_a.update(current_a);
-	_throttle_filter.update(throttle_normalized);
 	sumDischarged(timestamp, current_a);
-	estimateStateOfCharge(_voltage_filter_v.getState(), _current_filter_a.getState(), _throttle_filter.getState());
+	estimateStateOfCharge(_voltage_filter_v.getState(), _current_filter_a.getState());
 	computeScale();
 
 	if (connected && _battery_initialized) {
@@ -169,7 +167,7 @@ void Battery::sumDischarged(const hrt_abstime &timestamp, float current_a)
 	_last_timestamp = timestamp;
 }
 
-void Battery::estimateStateOfCharge(const float voltage_v, const float current_a, const float throttle)
+void Battery::estimateStateOfCharge(const float voltage_v, const float current_a)
 {
 	// remaining battery capacity based on voltage
 	float cell_voltage = voltage_v / _params.n_cells;
@@ -179,6 +177,15 @@ void Battery::estimateStateOfCharge(const float voltage_v, const float current_a
 		cell_voltage += _params.r_internal * current_a;
 
 	} else {
+		actuator_controls_s actuator_controls{};
+		_actuator_controls_0_sub.copy(&actuator_controls);
+		const float throttle = actuator_controls.control[actuator_controls_s::INDEX_THROTTLE];
+		_throttle_filter.update(throttle);
+
+		if (!_battery_initialized) {
+			_throttle_filter.reset(throttle);
+		}
+
 		// assume linear relation between throttle and voltage drop
 		cell_voltage += throttle * _params.v_load_drop;
 	}

src/lib/battery/battery.h

@@ -54,6 +54,8 @@
 #include <lib/parameters/param.h>
 #include <lib/mathlib/math/filter/AlphaFilter.hpp>
 #include <uORB/PublicationMulti.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/battery_status.h>
 
 /**
@@ -91,10 +93,9 @@ public:
 	 * @param timestamp: Time at which the ADC was read (use hrt_absolute_time())
 	 * @param source: Source type in relation to BAT%d_SOURCE param.
 	 * @param priority: The brick number -1. The term priority refers to the Vn connection on the LTC4417
-	 * @param throttle_normalized: Throttle of the vehicle, between 0 and 1
 	 */
 	void updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v, float current_a, bool connected,
-				 int source, int priority, float throttle_normalized);
+				 int source, int priority);
 
 protected:
 	struct {
@@ -130,11 +131,12 @@ protected:
 
 private:
 	void sumDischarged(const hrt_abstime &timestamp, float current_a);
-	void estimateStateOfCharge(const float voltage_v, const float current_a, const float throttle);
+	void estimateStateOfCharge(const float voltage_v, const float current_a);
 	uint8_t determineWarning(float state_of_charge);
 	void computeScale();
 	float computeRemainingTime(float current_a);
 
+	uORB::Subscription _actuator_controls_0_sub{ORB_ID(actuator_controls_0)};
 	uORB::PublicationMulti<battery_status_s> _battery_status_pub{ORB_ID(battery_status)};
 
 	bool _battery_initialized{false};