Created new AnalogBattery class

src/lib/battery/CMakeLists.txt

@@ -31,4 +31,4 @@
 #
 ############################################################################
 
-px4_add_library(battery battery_base.cpp)
+px4_add_library(battery battery_base.cpp battery.cpp)

src/lib/battery/battery.cpp

@@ -0,0 +1,14 @@
+
+#include "battery.h"
+
+Battery1::Battery1()
+{
+	updateParams();
+
+	migrateParam(_param_old_bat_v_empty, _param_bat_v_empty, "V_EMPTY", 3.5f);
+	migrateParam(_param_old_bat_v_charged, _param_bat_v_charged, "V_CHARGED", 4.05f);
+	migrateParam(_param_old_bat_v_load_drop, _param_bat_v_load_drop, "V_LOAD_DROP", 0.3f);
+	migrateParam(_param_old_bat_r_internal, _param_bat_r_internal, "R_INTERNAL", -1.0f);
+	migrateParam(_param_old_bat_n_cells, _param_bat_n_cells, "N_CELLS", 0);
+	migrateParam(_param_old_bat_capacity, _param_bat_capacity, "CAPACITY", -1.0f);
+}

src/lib/battery/battery.h

@@ -33,12 +33,18 @@
 
 #pragma once
 
+#include "battery_base.h"
+
+#include <px4_log.h>
+#include <math.h>
+
 /**
  * @file battery.h
- * Implementations of BatteryBase
+ * Basic implementation of BatteryBase. Battery1 is calibrated by BAT1_* parameters. Battery2 is calibrated
+ * by BAT2_* parameters.
  *
  * The multiple batteries all share the same logic for calibration. The only difference is which parameters are used
- * (Battery 1 uses `BAT_*`, while Battery 2 uses `BAT2_*`). To avoid code duplication, inheritance is being used.
+ * (Battery 1 uses `BAT1_*`, while Battery 2 uses `BAT2_*`). To avoid code duplication, inheritance is being used.
  * The problem is that the `ModuleParams` class depends on a macro which defines member variables. You can't override
  * member variables in C++, so we have to declare virtual getter functions in BatteryBase, and implement them here.
  *
@@ -47,54 +53,89 @@
  * char param_name[17]; //16 max length of parameter name, + null terminator
  * int battery_index = 1; // Or 2 or 3 or whatever
  * snprintf(param_name, 17, "BAT%d_N_CELLS", battery_index);
- * // A real implementation would have to handle the case where battery_index == 1 and there is no number in the param name.
  * param_find(param_name); // etc
  * ```
  *
  * This was decided against because the newer ModuleParams API provides more type safety and avoids code duplication.
  *
- * To add a new battery, just create a new implementation of BatteryBase and implement all of the _get_* methods,
- * then add all of the new parameters necessary for calibration.
+ * To add a third battery, follow these steps:
+ *  - Copy/Paste all of Battery2 to make Battery3
+ *  - Change all "BAT2_*" parameters to "BAT3_*" in Battery3
+ *  - Copy the file "battery_params_2.c" to "battery_params_3.c"
+ *  - Change all of the "BAT2_*" params in "battery_params_3.c" to "BAT3_*"
+ * This is not done now because there is not yet any demand for a third battery, and adding parameters uses up space.
  */
 
-#include "battery_base.h"
-
+/**
+ * Battery1 represents a battery calibrated by BAT1_* parameters.
+ */
 class Battery1 : public BatteryBase
 {
 public:
-	Battery1() : BatteryBase()
+	Battery1();
+
+	/**
+	 * This function migrates the old deprecated parameters like BAT_N_CELLS to the new parameters like BAT1_N_CELLS.
+	 * It checks if the old parameter is non-defaulT AND the new parameter IS default, and if so, it:
+	 *  - Issues a warning using PX4_WARN(...)
+	 *  - Copies the value of the old parameter over to the new parameter
+	 *  - Resets the old parameter to its default
+	 *
+	 * The 'name' parameter should be only the part of the parameter name that comes after "BAT1_" or "BAT_". It is
+	 * used only for the warning message. For example, for parameter BAT1_N_CELLS, name should be "N_CELLS".
+	 * (See the implementation of this function for why I have taken this strange choice)
+	 *
+	 * In an ideal world, this function would be protected so that only child classes of Battery1 could access it.
+	 * However, the way ModuleParams works makes it very difficult to inherit from a ModuleParams class.
+	 * For example, the AnalogBattery class in the Sensors module does not inherit this class; it just contains
+	 * a Battery1 member variable.
+	 *
+	 * The templating is complicated because every parameter is technically a different type. However, in normal
+	 * use, the template can just be ignored. See the implementation of Battery1::Battery1() for example usage.
+	 *
+	 * @tparam P1 Type of the first parameter
+	 * @tparam P2 Type of the second parameter
+	 * @tparam T Data type for the default value
+	 * @param oldParam Reference to the old parameter, as a ParamFloat<...>, ParamInt<...>, or ParamBool<...>
+	 * @param newParam Reference to the new paramater, as a ParamFloat<...>, ParamInt<...>, or ParamBool<...>
+	 * @param name The name of the parameter, WITHOUT the "BAT_" or "BAT1_" prefix. This is used only for logging.
+	 * @param defaultValue Default value of the parameter, as specified in PARAM_DEFINE_*(...)
+	 */
+	template<class P1, class P2, typename T> static void
+	migrateParam(P1 &oldParam, P2 &newParam, const char *name, T defaultValue)
 	{
-		// Can't do this in the constructor because virtual functions
-		if (_get_adc_channel() >= 0) {
-			vChannel = _get_adc_channel();
+		float diffOld = fabs((float) oldParam.get() - defaultValue);
+		float diffNew = fabs((float) newParam.get() - defaultValue);
 
-		} else {
-			vChannel = DEFAULT_V_CHANNEL[0];
+		if (diffOld > 0.0001f && diffNew < 0.0001f) {
+			PX4_WARN("Parameter BAT_%s is deprecated. Copying value to BAT1_%s.", name, name);
+			newParam.set(oldParam.get());
+			oldParam.set(defaultValue);
+			newParam.commit();
+			oldParam.commit();
 		}
-
-		// TODO: Add parameter, like with V
-		iChannel = DEFAULT_I_CHANNEL[0];
 	}
 
 private:
 
 	DEFINE_PARAMETERS(
-		(ParamFloat<px4::params::BAT_V_EMPTY>) _param_bat_v_empty,
-		(ParamFloat<px4::params::BAT_V_CHARGED>) _param_bat_v_charged,
-		(ParamInt<px4::params::BAT_N_CELLS>) _param_bat_n_cells,
-		(ParamFloat<px4::params::BAT_CAPACITY>) _param_bat_capacity,
-		(ParamFloat<px4::params::BAT_V_LOAD_DROP>) _param_bat_v_load_drop,
-		(ParamFloat<px4::params::BAT_R_INTERNAL>) _param_bat_r_internal,
-		(ParamFloat<px4::params::BAT_V_DIV>) _param_v_div,
-		(ParamFloat<px4::params::BAT_A_PER_V>) _param_a_per_v,
-		(ParamInt<px4::params::BAT_ADC_CHANNEL>) _param_adc_channel,
+		(ParamFloat<px4::params::BAT_V_EMPTY>) _param_old_bat_v_empty,
+		(ParamFloat<px4::params::BAT_V_CHARGED>) _param_old_bat_v_charged,
+		(ParamInt<px4::params::BAT_N_CELLS>) _param_old_bat_n_cells,
+		(ParamFloat<px4::params::BAT_CAPACITY>) _param_old_bat_capacity,
+		(ParamFloat<px4::params::BAT_V_LOAD_DROP>) _param_old_bat_v_load_drop,
+		(ParamFloat<px4::params::BAT_R_INTERNAL>) _param_old_bat_r_internal,
+
+		(ParamFloat<px4::params::BAT1_V_EMPTY>) _param_bat_v_empty,
+		(ParamFloat<px4::params::BAT1_V_CHARGED>) _param_bat_v_charged,
+		(ParamInt<px4::params::BAT1_N_CELLS>) _param_bat_n_cells,
+		(ParamFloat<px4::params::BAT1_CAPACITY>) _param_bat_capacity,
+		(ParamFloat<px4::params::BAT1_V_LOAD_DROP>) _param_bat_v_load_drop,
+		(ParamFloat<px4::params::BAT1_R_INTERNAL>) _param_bat_r_internal,
 
 		(ParamFloat<px4::params::BAT_LOW_THR>) _param_bat_low_thr,
 		(ParamFloat<px4::params::BAT_CRIT_THR>) _param_bat_crit_thr,
 		(ParamFloat<px4::params::BAT_EMERGEN_THR>) _param_bat_emergen_thr,
-		(ParamFloat<px4::params::BAT_CNT_V_VOLT>) _param_cnt_v_volt,
-		(ParamFloat<px4::params::BAT_CNT_V_CURR>) _param_cnt_v_curr,
-		(ParamFloat<px4::params::BAT_V_OFFS_CURR>) _param_v_offs_cur,
 		(ParamInt<px4::params::BAT_SOURCE>) _param_source
 	)
 
@@ -107,34 +148,16 @@ private:
 	float _get_bat_low_thr() override {return _param_bat_low_thr.get(); }
 	float _get_bat_crit_thr() override {return _param_bat_crit_thr.get(); }
 	float _get_bat_emergen_thr() override {return _param_bat_emergen_thr.get(); }
-	float _get_cnt_v_volt_raw() override {return _param_cnt_v_volt.get(); }
-	float _get_cnt_v_curr_raw() override {return _param_cnt_v_curr.get(); }
-	float _get_v_offs_cur() override {return _param_v_offs_cur.get(); }
-	float _get_v_div_raw() override {return _param_v_div.get(); }
-	float _get_a_per_v_raw() override {return _param_a_per_v.get(); }
 	int _get_source() override {return _param_source.get(); }
-	int _get_adc_channel() override {return _param_adc_channel.get(); }
-
-	int _get_brick_index() override {return 0; }
 };
 
+/**
+ * Battery2 represents a battery calibrated by BAT2_* parameters.
+ */
 class Battery2 : public BatteryBase
 {
 public:
-	Battery2() : BatteryBase()
-	{
-		// Can't do this in the constructor because virtual functions
-		if (_get_adc_channel() >= 0) {
-			vChannel = _get_adc_channel();
-
-		} else {
-			vChannel = DEFAULT_V_CHANNEL[1];
-		}
-
-		// TODO: Add parameter, like with V
-		iChannel = DEFAULT_I_CHANNEL[1];
-	}
-
+	Battery2() {}
 private:
 
 	DEFINE_PARAMETERS(
@@ -144,16 +167,10 @@ private:
 		(ParamFloat<px4::params::BAT2_CAPACITY>) _param_bat_capacity,
 		(ParamFloat<px4::params::BAT2_V_LOAD_DROP>) _param_bat_v_load_drop,
 		(ParamFloat<px4::params::BAT2_R_INTERNAL>) _param_bat_r_internal,
-		(ParamFloat<px4::params::BAT2_V_DIV>) _param_v_div,
-		(ParamFloat<px4::params::BAT2_A_PER_V>) _param_a_per_v,
-		(ParamInt<px4::params::BAT2_ADC_CHANNEL>) _param_adc_channel,
 
 		(ParamFloat<px4::params::BAT_LOW_THR>) _param_bat_low_thr,
 		(ParamFloat<px4::params::BAT_CRIT_THR>) _param_bat_crit_thr,
 		(ParamFloat<px4::params::BAT_EMERGEN_THR>) _param_bat_emergen_thr,
-		(ParamFloat<px4::params::BAT_CNT_V_VOLT>) _param_cnt_v_volt,
-		(ParamFloat<px4::params::BAT_CNT_V_CURR>) _param_cnt_v_curr,
-		(ParamFloat<px4::params::BAT_V_OFFS_CURR>) _param_v_offs_cur,
 		(ParamInt<px4::params::BAT_SOURCE>) _param_source
 	)
 
@@ -166,13 +183,5 @@ private:
 	float _get_bat_low_thr() override {return _param_bat_low_thr.get(); }
 	float _get_bat_crit_thr() override {return _param_bat_crit_thr.get(); }
 	float _get_bat_emergen_thr() override {return _param_bat_emergen_thr.get(); }
-	float _get_cnt_v_volt_raw() override {return _param_cnt_v_volt.get(); }
-	float _get_cnt_v_curr_raw() override {return _param_cnt_v_curr.get(); }
-	float _get_v_offs_cur() override {return _param_v_offs_cur.get(); }
-	float _get_v_div_raw() override {return _param_v_div.get(); }
-	float _get_a_per_v_raw() override {return _param_a_per_v.get(); }
 	int _get_source() override {return _param_source.get(); }
-	int _get_adc_channel() override {return _param_adc_channel.get(); }
-
-	int _get_brick_index() override {return 1; }
-};
+};

src/lib/battery/battery_base.cpp

@@ -63,32 +63,13 @@ BatteryBase::reset()
 	// TODO: check if it is sane to reset warning to NONE
 	_battery_status.warning = battery_status_s::BATTERY_WARNING_NONE;
 	_battery_status.connected = false;
+	_battery_status.capacity = _get_bat_capacity();
 }
 
 void
-BatteryBase::updateBatteryStatusRawADC(int32_t voltage_raw, int32_t current_raw, hrt_abstime timestamp,
-				       bool selected_source, int priority,
-				       float throttle_normalized,
-				       bool armed)
+BatteryBase::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a, bool connected,
+				 bool selected_source, int priority, float throttle_normalized, bool armed, bool should_publish)
 {
-
-	float voltage_v = (voltage_raw * _get_cnt_v_volt()) * _get_v_div();
-	float current_a = ((current_raw * _get_cnt_v_curr()) - _get_v_offs_cur()) * _get_a_per_v();
-
-	updateBatteryStatus(voltage_v, current_a, timestamp, selected_source, priority, throttle_normalized, armed);
-}
-
-void
-BatteryBase::updateBatteryStatus(float voltage_v, float current_a, hrt_abstime timestamp,
-				 bool selected_source, int priority,
-				 float throttle_normalized,
-				 bool armed)
-{
-	updateParams();
-
-	bool connected = voltage_v > BOARD_ADC_OPEN_CIRCUIT_V &&
-			 (BOARD_ADC_OPEN_CIRCUIT_V <= BOARD_VALID_UV || is_valid());
-
 	reset();
 	_battery_status.timestamp = timestamp;
 	filterVoltage(voltage_v);
@@ -119,11 +100,17 @@ BatteryBase::updateBatteryStatus(float voltage_v, float current_a, hrt_abstime t
 
 	_battery_status.timestamp = timestamp;
 
-	if (_get_source() == 0) {
-		orb_publish_auto(ORB_ID(battery_status), &_orbAdvert, &_battery_status, &_orbInstance, ORB_PRIO_DEFAULT);
+	if (should_publish) {
+		publish();
 	}
 
-	battery_status->temperature = NAN;
+	_battery_status.temperature = NAN;
+}
+
+void
+BatteryBase::publish()
+{
+	orb_publish_auto(ORB_ID(battery_status), &_orbAdvert, &_battery_status, &_orbInstance, ORB_PRIO_DEFAULT);
 }
 
 void
@@ -267,55 +254,3 @@ BatteryBase::computeScale()
 		_scale = 1.f;
 	}
 }
-
-float
-BatteryBase::_get_cnt_v_volt()
-{
-	float val = _get_cnt_v_volt_raw();
-
-	if (val < 0.0f) {
-		return 3.3f / 4096.0f;
-
-	} else {
-		return val;
-	}
-}
-
-float
-BatteryBase::_get_cnt_v_curr()
-{
-	float val = _get_cnt_v_curr_raw();
-
-	if (val < 0.0f) {
-		return 3.3f / 4096.0f;
-
-	} else {
-		return val;
-	}
-}
-
-float
-BatteryBase::_get_v_div()
-{
-	float val = _get_v_div_raw();
-
-	if (val <= 0.0f) {
-		return BOARD_BATTERY1_V_DIV;
-
-	} else {
-		return val;
-	}
-}
-
-float
-BatteryBase::_get_a_per_v()
-{
-	float val = _get_a_per_v_raw();
-
-	if (val <= 0.0f) {
-		return BOARD_BATTERY1_A_PER_V;
-
-	} else {
-		return val;
-	}
-}

src/lib/battery/battery_base.h

@@ -53,7 +53,15 @@
 /**
  * BatteryBase is a base class for any type of battery.
  *
- * See battery.h for example implementation, and for explanation of why this is designed like it is.
+ * Each of the virtual _get_*() functions corresponds to a parameter used for calibration. However, depending
+ * on the type of battery, these values may not come from parameters.
+ *
+ * Most implementations of BatteryBase will also inherit ModuleParams, and most of the virtual function
+ * implementations will look something like:
+ * 		float _get_bat_v_empty() override {return _param_bat_v_empty().get();}
+ *
+ * For a full implementation, see src/modules/sensors/analog_battery.{cpp, h}
+ * For a minimal implementation, see src/modules/simulator/simulator.h
  */
 class BatteryBase : ModuleParams
 {
@@ -80,20 +88,6 @@ public:
 	 */
 	float full_cell_voltage() { return _get_bat_v_charged(); }
 
-	/**
-	 * Update current battery status message.
-	 *
-	 * @param voltage_raw Battery voltage read from ADC, in raw ADC counts
-	 * @param current_raw Voltage of current sense resistor, in raw ADC counts
-	 * @param timestamp Time at which the ADC was read (use hrt_absolute_time())
-	 * @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 of the vehicle, between 0 and 1
-	 * @param armed Arming state of the vehicle
-	 */
-	void updateBatteryStatusRawADC(int32_t voltage_raw, int32_t current_raw, hrt_abstime timestamp,
-				       bool selected_source, int priority, float throttle_normalized, bool armed);
-
 	/**
 	 * Update current battery status message.
 	 *
@@ -104,73 +98,64 @@ public:
 	 * @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
 	 * @param armed Arming state of the vehicle
+	 * @param should_publish If True, this function published a battery_status uORB message.
 	 */
-	void updateBatteryStatus(float voltage_v, float current_a, hrt_abstime timestamp,
-				 bool selected_source, int priority, float throttle_normalized, bool armed);
+	void updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a, bool connected,
+				 bool selected_source, int priority, float throttle_normalized, bool armed, bool should_publish);
 
 	/**
-	 * Which ADC channel is used for voltage reading of this battery
+	 * Publishes the uORB battery_status message with the most recently-updated data.
 	 */
-	int vChannel{-1};
-	/**
-	 * Which ADC channel is used for current reading of this battery
-	 */
-	int iChannel{-1};
+	void publish();
 
-	/**
-	 * Whether the ADC channel for the voltage of this battery is valid.
-	 * Corresponds to BOARD_BRICK_VALID_LIST
-	 */
-	bool is_valid()
-	{
-#ifdef BOARD_BRICK_VALID_LIST
-		bool valid[BOARD_NUMBER_BRICKS] = BOARD_BRICK_VALID_LIST;
-		return valid[_get_brick_index()];
-#else
-		return true;
-#endif
-	}
+	// TODO: Check that there was actually a parameter update
+	void updateParams() {ModuleParams::updateParams();}
 
 protected:
-	// Defaults to use if the parameters are not set
-#if BOARD_NUMBER_BRICKS > 0
-#if defined(BOARD_BATT_V_LIST) && defined(BOARD_BATT_I_LIST)
-	static constexpr int   DEFAULT_V_CHANNEL[BOARD_NUMBER_BRICKS] = BOARD_BATT_V_LIST;
-	static constexpr int   DEFAULT_I_CHANNEL[BOARD_NUMBER_BRICKS] = BOARD_BATT_I_LIST;
-#else
-	static constexpr int   DEFAULT_V_CHANNEL[BOARD_NUMBER_BRICKS] = {0};
-	static constexpr int   DEFAULT_I_CHANNEL[BOARD_NUMBER_BRICKS] = {0};
-#endif
-#else
-	static constexpr int DEFAULT_V_CHANNEL[0] = {};
-	static constexpr int DEFAULT_I_CHANNEL[0] = {};
-#endif
-
-	// The following are all of the parameters needed for the batteries.
-	// See battery.h for example implementation.
+	/**
+	 * @return Value, in volts, at which a single cell of the battery would be considered empty.
+	 */
 	virtual float _get_bat_v_empty() = 0;
+	/**
+	 * @return Value, in volts, at which a single cell of the battery would be considered full.
+	 */
 	virtual float _get_bat_v_charged() = 0;
+	/**
+	 * @return Number of cells in series in the battery.
+	 */
 	virtual int _get_bat_n_cells() = 0;
+	/**
+	 * @return Total capacity of the battery, in mAh
+	 */
 	virtual float _get_bat_capacity() = 0;
+	/**
+	 * @return Voltage drop per cell at full throttle. This implicitly defines the internal resistance of the
+	 *     battery. If _get_bat_r_internal() >= to 0, then _get_bat_v_load_drop() is ignored.
+	 */
 	virtual float _get_bat_v_load_drop() = 0;
+	/**
+	 * @return Internal resistance of the battery, in Ohms. If non-negative, then this is used instead of
+	 *     _get_bat_v_load_drop().
+	 */
 	virtual float _get_bat_r_internal() = 0;
+	/**
+	 * @return Low battery threshold, as fraction between 0 and 1.
+	 */
 	virtual float _get_bat_low_thr() = 0;
+	/**
+	 * @return Critical battery threshold, as fraction between 0 and 1.
+	 */
 	virtual float _get_bat_crit_thr() = 0;
+	/**
+	 * @return Emergency battery threshold, as fraction between 0 and 1.
+	 */
 	virtual float _get_bat_emergen_thr() = 0;
-	virtual float _get_cnt_v_volt_raw() = 0;
-	virtual float _get_cnt_v_curr_raw() = 0;
-	virtual float _get_v_offs_cur() = 0;
-	virtual float _get_v_div_raw() = 0;
-	virtual float _get_a_per_v_raw() = 0;
+	/**
+	 * @return Source of battery data. 0 = internal power module. 1 = external, via Mavlink
+	 */
 	virtual int _get_source() = 0;
-	virtual int _get_adc_channel() = 0;
 
-	virtual int _get_brick_index() = 0;
-
-	float _get_cnt_v_volt();
-	float _get_cnt_v_curr();
-	float _get_v_div();
-	float _get_a_per_v();
+	battery_status_s _battery_status;
 
 private:
 	void filterVoltage(float voltage_v);
@@ -195,5 +180,4 @@ private:
 
 	orb_advert_t _orbAdvert{nullptr};
 	int _orbInstance;
-	battery_status_s _battery_status;
 };

src/lib/battery/battery_params_1.c

@@ -56,7 +56,7 @@
  * @increment 0.01
  * @reboot_required true
  */
-PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.5f);
+PARAM_DEFINE_FLOAT(BAT1_V_EMPTY, 3.5f);
 
 /**
  * Full cell voltage (5C load)
@@ -70,7 +70,7 @@ PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.5f);
  * @increment 0.01
  * @reboot_required true
  */
-PARAM_DEFINE_FLOAT(BAT_V_CHARGED, 4.05f);
+PARAM_DEFINE_FLOAT(BAT1_V_CHARGED, 4.05f);
 
 /**
  * Voltage drop per cell on full throttle
@@ -78,7 +78,7 @@ PARAM_DEFINE_FLOAT(BAT_V_CHARGED, 4.05f);
  * This implicitely defines the internal resistance
  * to maximum current ratio for battery 1 and assumes linearity.
  * A good value to use is the difference between the
- * 5C and 20-25C load. Not used if BAT_R_INTERNAL is
+ * 5C and 20-25C load. Not used if BAT1_R_INTERNAL is
  * set.
  *
  * @group Battery Calibration
@@ -89,13 +89,13 @@ PARAM_DEFINE_FLOAT(BAT_V_CHARGED, 4.05f);
  * @increment 0.01
  * @reboot_required true
  */
-PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.3f);
+PARAM_DEFINE_FLOAT(BAT1_V_LOAD_DROP, 0.3f);
 
 /**
  * Explicitly defines the per cell internal resistance for battery 1
  *
  * If non-negative, then this will be used in place of
- * BAT_V_LOAD_DROP for all calculations.
+ * BAT1_V_LOAD_DROP for all calculations.
  *
  * @group Battery Calibration
  * @unit Ohms
@@ -103,7 +103,7 @@ PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.3f);
  * @max 0.2
  * @reboot_required true
  */
-PARAM_DEFINE_FLOAT(BAT_R_INTERNAL, -1.0f);
+PARAM_DEFINE_FLOAT(BAT1_R_INTERNAL, -1.0f);
 
 
 /**
@@ -131,7 +131,7 @@ PARAM_DEFINE_FLOAT(BAT_R_INTERNAL, -1.0f);
  * @value 16 16S Battery
  * @reboot_required true
  */
-PARAM_DEFINE_INT32(BAT_N_CELLS, 0);
+PARAM_DEFINE_INT32(BAT1_N_CELLS, 0);
 
 /**
  * Battery 1 capacity.
@@ -146,7 +146,7 @@ PARAM_DEFINE_INT32(BAT_N_CELLS, 0);
  * @increment 50
  * @reboot_required true
  */
-PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f);
+PARAM_DEFINE_FLOAT(BAT1_CAPACITY, -1.0f);
 
 /**
  * Battery 1 voltage divider (V divider)
@@ -159,7 +159,7 @@ PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f);
  * @group Battery Calibration
  * @decimal 8
  */
-PARAM_DEFINE_FLOAT(BAT_V_DIV, -1.0);
+PARAM_DEFINE_FLOAT(BAT1_V_DIV, -1.0);
 
 /**
  * Battery 1 current per volt (A/V)
@@ -171,7 +171,7 @@ PARAM_DEFINE_FLOAT(BAT_V_DIV, -1.0);
  * @group Battery Calibration
  * @decimal 8
  */
-PARAM_DEFINE_FLOAT(BAT_A_PER_V, -1.0);
+PARAM_DEFINE_FLOAT(BAT1_A_PER_V, -1.0);
 
 /**
  * Battery 1 ADC Channel
@@ -181,4 +181,4 @@ PARAM_DEFINE_FLOAT(BAT_A_PER_V, -1.0);
  *
  * @group Battery Calibration
  */
-PARAM_DEFINE_INT32(BAT_ADC_CHANNEL, -1);
+PARAM_DEFINE_INT32(BAT1_ADC_CHANNEL, -1);

src/lib/battery/battery_params_2.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

src/lib/battery/battery_params_common.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013-2017 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

src/lib/battery/battery_params_deprecated.c

@@ -0,0 +1,181 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file battery_params_1.c
+ * @author Timothy Scott <timothy@auterion.com>
+ *
+ * Defines parameters for Battery 1. For backwards compatibility, the
+ * parameter names do not have a "1" in them.
+ */
+
+/**
+ * This parameter is deprecated. Please use BAT1_V_EMPTY instead.
+ *
+ * Defines the voltage where a single cell of battery 1 is considered empty.
+ * The voltage should be chosen before the steep dropoff to 2.8V. A typical
+ * lithium battery can only be discharged down to 10% before it drops off
+ * to a voltage level damaging the cells.
+ *
+ * @group Battery Calibration
+ * @unit V
+ * @decimal 2
+ * @increment 0.01
+ * @reboot_required true
+ */
+PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.5f);
+
+/**
+ * This parameter is deprecated. Please use BAT1_V_CHARGED instead.
+ *
+ * Defines the voltage where a single cell of battery 1 is considered full
+ * under a mild load. This will never be the nominal voltage of 4.2V
+ *
+ * @group Battery Calibration
+ * @unit V
+ * @decimal 2
+ * @increment 0.01
+ * @reboot_required true
+ */
+PARAM_DEFINE_FLOAT(BAT_V_CHARGED, 4.05f);
+
+/**
+ * This parameter is deprecated. Please use BAT1_V_LOAD_DROP instead.
+ *
+ * This implicitely defines the internal resistance
+ * to maximum current ratio for battery 1 and assumes linearity.
+ * A good value to use is the difference between the
+ * 5C and 20-25C load. Not used if BAT_R_INTERNAL is
+ * set.
+ *
+ * @group Battery Calibration
+ * @unit V
+ * @min 0.07
+ * @max 0.5
+ * @decimal 2
+ * @increment 0.01
+ * @reboot_required true
+ */
+PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.3f);
+
+/**
+ * This parameter is deprecated. Please use BAT1_R_INTERNAL instead.
+ *
+ * If non-negative, then this will be used in place of
+ * BAT_V_LOAD_DROP for all calculations.
+ *
+ * @group Battery Calibration
+ * @unit Ohms
+ * @min -1.0
+ * @max 0.2
+ * @reboot_required true
+ */
+PARAM_DEFINE_FLOAT(BAT_R_INTERNAL, -1.0f);
+
+
+/**
+ * This parameter is deprecated. Please use BAT1_N_CELLS instead.
+ *
+ * Defines the number of cells the attached battery consists of.
+ *
+ * @group Battery Calibration
+ * @unit S
+ * @value 0 Unconfigured
+ * @value 2 2S Battery
+ * @value 3 3S Battery
+ * @value 4 4S Battery
+ * @value 5 5S Battery
+ * @value 6 6S Battery
+ * @value 7 7S Battery
+ * @value 8 8S Battery
+ * @value 9 9S Battery
+ * @value 10 10S Battery
+ * @value 11 11S Battery
+ * @value 12 12S Battery
+ * @value 13 13S Battery
+ * @value 14 14S Battery
+ * @value 15 15S Battery
+ * @value 16 16S Battery
+ * @reboot_required true
+ */
+PARAM_DEFINE_INT32(BAT_N_CELLS, 0);
+
+/**
+ * This parameter is deprecated. Please use BAT1_CAPACITY instead.
+ *
+ * Defines the capacity of battery 1.
+ *
+ * @group Battery Calibration
+ * @unit mAh
+ * @decimal 0
+ * @min -1.0
+ * @max 100000
+ * @increment 50
+ * @reboot_required true
+ */
+PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f);
+
+/**
+ * This parameter is deprecated. Please use BAT1_V_DIV instead.
+ *
+ * This is the divider from battery 1 voltage to 3.3V ADC voltage.
+ * If using e.g. Mauch power modules the value from the datasheet
+ * can be applied straight here. A value of -1 means to use
+ * the board default.
+ *
+ * @group Battery Calibration
+ * @decimal 8
+ */
+PARAM_DEFINE_FLOAT(BAT_V_DIV, -1.0);
+
+/**
+ * This parameter is deprecated. Please use BAT1_A_PER_V instead.
+ *
+ * The voltage seen by the 3.3V ADC multiplied by this factor
+ * will determine the battery current. A value of -1 means to use
+ * the board default.
+ *
+ * @group Battery Calibration
+ * @decimal 8
+ */
+PARAM_DEFINE_FLOAT(BAT_A_PER_V, -1.0);
+
+/**
+ * This parameter is deprecated. Please use BAT1_ADC_CHANNEL instead.
+ *
+ * This parameter specifies the ADC channel used to monitor voltage of main power battery.
+ * A value of -1 means to use the board default.
+ *
+ * @group Battery Calibration
+ */
+PARAM_DEFINE_INT32(BAT_ADC_CHANNEL, -1);