battery: delete unused armed

src/modules/battery_status/analog_battery.cpp

@@ -44,8 +44,7 @@ AnalogBattery::AnalogBattery(int index, ModuleParams *parent) :
 
 void
 AnalogBattery::updateBatteryStatusRawADC(hrt_abstime timestamp, int32_t voltage_raw, int32_t current_raw,
-		bool selected_source, int priority, float throttle_normalized,
-		bool armed)
+		bool selected_source, int priority, float throttle_normalized)
 {
 	float voltage_v = (voltage_raw * _analog_params.cnt_v_volt) * _analog_params.v_div;
 	float current_a = ((current_raw * _analog_params.cnt_v_curr) - _analog_params.v_offs_cur) * _analog_params.a_per_v;
@@ -55,7 +54,7 @@ AnalogBattery::updateBatteryStatusRawADC(hrt_abstime timestamp, int32_t voltage_
 
 
 	Battery::updateBatteryStatus(timestamp, voltage_v, current_a, connected,
-				     selected_source, priority, throttle_normalized, armed, _params.source == 0);
+				     selected_source, priority, throttle_normalized, _params.source == 0);
 }
 
 bool AnalogBattery::is_valid()
@@ -144,4 +143,4 @@ AnalogBattery::updateParams()
 	}
 
 	Battery::updateParams();
-}
+}

src/modules/battery_status/analog_battery.h

@@ -50,11 +50,9 @@ public:
 	 * @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(hrt_abstime timestamp, int32_t voltage_raw, int32_t current_raw,
-				       bool selected_source, int priority, float throttle_normalized,
-				       bool armed);
+				       bool selected_source, int priority, float throttle_normalized);
 
 	/**
 	 * Whether the ADC channel for the voltage of this battery is valid.

src/modules/battery_status/battery_status.cpp

@@ -59,7 +59,6 @@
 #include <uORB/Subscription.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/battery_status.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
@@ -130,11 +129,8 @@ public:
 private:
 	DevHandle 	_h_adc;				/**< ADC driver handle */
 
-	bool		_armed{false};				/**< arming status of the vehicle */
-
 	uORB::Subscription	_actuator_ctrl_0_sub{ORB_ID(actuator_controls_0)};		/**< attitude controls sub */
 	uORB::Subscription	_parameter_update_sub{ORB_ID(parameter_update)};				/**< notification of parameter updates */
-	uORB::Subscription	_vcontrol_mode_sub{ORB_ID(vehicle_control_mode)};		/**< vehicle control mode subscription */
 
 	AnalogBattery _battery1;
 
@@ -296,8 +292,7 @@ BatteryStatus::adc_poll()
 					bat_current_adc_readings[b],
 					selected_source == b,
 					b,
-					ctrl.control[actuator_controls_s::INDEX_THROTTLE],
-					_armed
+					ctrl.control[actuator_controls_s::INDEX_THROTTLE]
 				);
 			}
 		}
@@ -318,13 +313,6 @@ BatteryStatus::Run()
 
 	perf_begin(_loop_perf);
 
-	/* check vehicle status for changes to publication state */
-	if (_vcontrol_mode_sub.updated()) {
-		vehicle_control_mode_s vcontrol_mode{};
-		_vcontrol_mode_sub.copy(&vcontrol_mode);
-		_armed = vcontrol_mode.flag_armed;
-	}
-
 	/* check parameters for updates */
 	parameter_update_poll();