Merge master into linux

src/modules/commander/commander.cpp

@@ -1509,7 +1509,9 @@ int commander_thread_main(int argc, char *argv[])
 			if (hrt_absolute_time() > commander_boot_timestamp + 2000000 && battery.voltage_filtered_v > 0.0f) {
 				status.battery_voltage = battery.voltage_filtered_v;
 				status.battery_current = battery.current_a;
+				status.battery_discharged_mah = battery.discharged_mah;
 				status.condition_battery_voltage_valid = true;
+				status.battery_cell_count = battery_get_n_cells();
 
 				/* get throttle (if armed), as we only care about energy negative throttle also counts */
 				float throttle = (armed.armed) ? fabsf(actuator_controls.control[3]) : 0.0f;

src/modules/commander/commander_helper.cpp

@@ -332,6 +332,10 @@ void rgbled_set_pattern(rgbled_pattern_t *pattern)
 	px4_ioctl(rgbleds, RGBLED_SET_PATTERN, (unsigned long)pattern);
 }
 
+unsigned battery_get_n_cells() {
+	return bat_n_cells;
+}
+
 float battery_remaining_estimate_voltage(float voltage, float discharged, float throttle_normalized)
 {
 	float ret = 0;

src/modules/commander/commander_helper.h

@@ -89,4 +89,6 @@ int battery_init();
  */
 float battery_remaining_estimate_voltage(float voltage, float discharged, float throttle_normalized);
 
+unsigned battery_get_n_cells();
+
 #endif /* COMMANDER_HELPER_H_ */