battery: check source param inside battery lib

This moves the handling of the BAT%d_SOURCE param inside of the battery
library. Users of the library now pass the source instead of the flag
whether to publish. The battery library then checks if the source is
selected using the param and publishes accordingly.

Since we removed the strange system_source flag, we now need to look at
all batteries in commander.
For current estimation - I think - it makes sense to sum them up.

src/modules/battery_status/analog_battery.cpp

@@ -41,7 +41,7 @@ AnalogBattery::AnalogBattery(int index, ModuleParams *parent) :
 
 void
 AnalogBattery::updateBatteryStatusADC(hrt_abstime timestamp, float voltage_raw, float current_raw,
-				      bool selected_source, int priority, float throttle_normalized)
+				      int source, int priority, float throttle_normalized)
 {
 	float voltage_v = voltage_raw * _analog_params.v_div;
 	float current_a = (current_raw - _analog_params.v_offs_cur) * _analog_params.a_per_v;
@@ -51,7 +51,7 @@ AnalogBattery::updateBatteryStatusADC(hrt_abstime timestamp, float voltage_raw,
 
 
 	Battery::updateBatteryStatus(timestamp, voltage_v, current_a, connected,
-				     selected_source, priority, throttle_normalized, _params.source == 0);
+				     source, priority, throttle_normalized);
 }
 
 bool AnalogBattery::is_valid()

src/modules/battery_status/analog_battery.h

@@ -47,12 +47,12 @@ public:
 	 * @param voltage_raw Battery voltage read from ADC, volts
 	 * @param current_raw Voltage of current sense resistor, volts
 	 * @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 source The source as defined by param BAT%d_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
 	 */
 	void updateBatteryStatusADC(hrt_abstime timestamp, float voltage_raw, float current_raw,
-				    bool selected_source, int priority, float throttle_normalized);
+				    int 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

@@ -176,11 +176,6 @@ BatteryStatus::adc_poll()
 	float bat_current_adc_readings[BOARD_NUMBER_BRICKS] {};
 	float bat_voltage_adc_readings[BOARD_NUMBER_BRICKS] {};
 
-	/* Based on the valid_chan, used to indicate the selected the lowest index
-	 * (highest priority) supply that is the source for the VDD_5V_IN
-	 * When < 0 none selected
-	 */
-
 	int selected_source = -1;
 
 	adc_report_s adc_report;
@@ -200,7 +195,6 @@ BatteryStatus::adc_poll()
 					 * VDD_5V_IN
 					 */
 					selected_source = b;
-
 				}
 
 				/* look for specific channels and process the raw voltage to measurement data */
@@ -221,19 +215,18 @@ BatteryStatus::adc_poll()
 		}
 
 		for (int b = 0; b < BOARD_NUMBER_BRICKS; b++) {
-			if (_analogBatteries[b]->source() == 0) {
-				actuator_controls_s ctrl{};
-				_actuator_ctrl_0_sub.copy(&ctrl);
 
-				_analogBatteries[b]->updateBatteryStatusADC(
-					hrt_absolute_time(),
-					bat_voltage_adc_readings[b],
-					bat_current_adc_readings[b],
-					selected_source == b,
-					b,
-					ctrl.control[actuator_controls_s::INDEX_THROTTLE]
-				);
-			}
+			actuator_controls_s ctrl{};
+			_actuator_ctrl_0_sub.copy(&ctrl);
+
+			_analogBatteries[b]->updateBatteryStatusADC(
+				hrt_absolute_time(),
+				bat_voltage_adc_readings[b],
+				bat_current_adc_readings[b],
+				battery_status_s::BATTERY_SOURCE_POWER_MODULE,
+				b,
+				ctrl.control[actuator_controls_s::INDEX_THROTTLE]
+			);
 		}
 	}
 }