From c1884975ed5a28cf47c5e229ea23fc954838abf8 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Tue, 31 Mar 2020 13:27:17 +0200
Subject: [PATCH] esc_battery: several review fixes

Thanks @bkueng.
---
 src/modules/esc_battery/EscBattery.cpp | 13 +++----------
 src/modules/esc_battery/EscBattery.hpp |  2 +-
 2 files changed, 4 insertions(+), 11 deletions(-)

diff --git a/src/modules/esc_battery/EscBattery.cpp b/src/modules/esc_battery/EscBattery.cpp
index 5c5c5f82de..449f09536e 100644
--- a/src/modules/esc_battery/EscBattery.cpp
+++ b/src/modules/esc_battery/EscBattery.cpp
@@ -32,7 +32,6 @@
  ****************************************************************************/
 
 #include "EscBattery.hpp"
-#include <drivers/drv_hrt.h>
 
 using namespace time_literals;
 
@@ -40,11 +39,6 @@ EscBattery::EscBattery() :
 	ModuleParams(nullptr),
 	WorkItem(MODULE_NAME, px4::wq_configurations::lp_default),
 	_battery(1, this)
-{
-	parameters_updated();
-}
-
-EscBattery::~EscBattery()
 {
 }
 
@@ -84,11 +78,10 @@ EscBattery::Run()
 
 	esc_status_s esc_status;
 
-	if (_esc_status_sub.update(&esc_status)) {
+	if (_esc_status_sub.copy(&esc_status)) {
 
-		if (hrt_elapsed_time(&esc_status.timestamp) > 500_ms ||
-		    esc_status.esc_count == 0 ||
-		    esc_status.esc_count > 8) {
+		if (esc_status.esc_count == 0 ||
+		    esc_status.esc_count > esc_status_s::CONNECTED_ESC_MAX) {
 			return;
 		}
 
diff --git a/src/modules/esc_battery/EscBattery.hpp b/src/modules/esc_battery/EscBattery.hpp
index 65fd9ac412..60a53e300c 100644
--- a/src/modules/esc_battery/EscBattery.hpp
+++ b/src/modules/esc_battery/EscBattery.hpp
@@ -51,7 +51,7 @@ class EscBattery : public ModuleBase<EscBattery>, public ModuleParams, public px
 {
 public:
 	EscBattery();
-	~EscBattery() override;
+	~EscBattery() = default;
 
 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);