Created new AnalogBattery class

src/modules/simulator/simulator.h

@@ -42,7 +42,7 @@
 
 #pragma once
 
-#include <battery/battery.h>
+#include <battery/battery_base.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_rc_input.h>
 #include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
@@ -183,8 +183,6 @@ private:
 
 		_gps.writeData(&gps_data);
 
-		_battery_status.timestamp = hrt_absolute_time();
-
 		_px4_accel.set_sample_rate(250);
 		_px4_gyro.set_sample_rate(250);
 	}
@@ -237,10 +235,24 @@ private:
 
 	hrt_abstime _last_sim_timestamp{0};
 	hrt_abstime _last_sitl_timestamp{0};
+	hrt_abstime _last_battery_timestamp{0};
 
-	// Lib used to do the battery calculations.
-	Battery1 _battery {};
-	battery_status_s _battery_status{};
+	// Because the simulator doesn't actually care about the real values of these, just stick
+	// in some good defaults.
+	// This is an anonymous class, because BatteryBase is abstract and can't directly be instantiated.
+	class : public BatteryBase
+	{
+		float _get_bat_v_empty() override { return 3.5; }
+		float _get_bat_v_charged() override { return 4.05; }
+		int _get_bat_n_cells() override { return 4; }
+		float _get_bat_capacity() override { return 10.0; }
+		float _get_bat_v_load_drop() override { return 0; }
+		float _get_bat_r_internal() override { return 0; }
+		float _get_bat_low_thr() override { return 0.15; }
+		float _get_bat_crit_thr() override { return 0.07; }
+		float _get_bat_emergen_thr() override { return 0.05; }
+		int _get_source() override { return 0; }
+	} _battery {};
 
 #ifndef __PX4_QURT
 

src/modules/simulator/simulator_mavlink.cpp

@@ -346,7 +346,7 @@ void Simulator::handle_message_hil_sensor(const mavlink_message_t *msg)
 	static uint64_t last_integration_us = 0;
 
 	// battery simulation (limit update to 100Hz)
-	if (hrt_elapsed_time(&_battery_status.timestamp) >= 10_ms) {
+	if (hrt_elapsed_time(&_last_battery_timestamp) >= 10_ms) {
 
 		const float discharge_interval_us = _param_sim_bat_drain.get() * 1000 * 1000;
 
@@ -370,7 +370,9 @@ void Simulator::handle_message_hil_sensor(const mavlink_message_t *msg)
 		vbatt *= _battery.cell_count();
 
 		const float throttle = 0.0f; // simulate no throttle compensation to make the estimate predictable
-		_battery.updateBatteryStatus(vbatt, ibatt, now_us, true, 0, throttle, armed);
+		_battery.updateBatteryStatus(now_us, vbatt, ibatt, true, true, 0, throttle, armed, true);
+
+		_last_battery_timestamp = now_us;
 	}
 }