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battery: check source param inside battery lib

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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.
This commit is contained in:
Julian Oes
2020-04-06 15:56:54 +02:00
parent 641612468b
commit f650b91718
13 changed files with 55 additions and 61 deletions
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src/modules/battery_status/battery_status.cpp
+11 -18
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@@ -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]
);
}
}
}