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battery: separate out publishing from updating

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to allow smart battery drivers to use the battery class and
filling in additional information in case it makes sense.
This commit is contained in:
Matthias Grob
2021-12-07 21:06:51 +01:00
parent e70d70468a
commit fdc40880d0
10 changed files with 40 additions and 17 deletions
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src/drivers/power_monitor/ina228/ina228.cpp
+3 -3
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@@ -88,7 +88,7 @@ INA228::INA228(const I2CSPIDriverConfig &config, int battery_index) :
_battery.setConnected(false);
_battery.updateVoltage(0.f);
_battery.updateCurrent(0.f);
_battery.updateBatteryStatus(hrt_absolute_time());
_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
}
INA228::~INA228()
@@ -310,7 +310,7 @@ INA228::collect()
_battery.setConnected(success);
_battery.updateVoltage(static_cast<float>(_bus_voltage * INA228_VSCALE));
_battery.updateCurrent(static_cast<float>(_current * _current_lsb));
_battery.updateBatteryStatus(hrt_absolute_time());
_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
perf_end(_sample_perf);
@@ -376,7 +376,7 @@ INA228::RunImpl()
_battery.setConnected(false);
_battery.updateVoltage(0.f);
_battery.updateCurrent(0.f);
_battery.updateBatteryStatus(hrt_absolute_time());
_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
if (init() != PX4_OK) {
ScheduleDelayed(INA228_INIT_RETRY_INTERVAL_US);