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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
2020-03-25 11:27:05 +01:00
parent 641612468b
commit f650b91718
13 changed files with 55 additions and 61 deletions
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5
src/modules/simulator/simulator_mavlink.cpp
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@@ -2,7 +2,7 @@
*
* Copyright (c) 2015 Mark Charlebois. All rights reserved.
* Copyright (c) 2016 Anton Matosov. All rights reserved.
* Copyright (c) 2017-2019 PX4 Development Team. All rights reserved.
* Copyright (c) 2017-2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -366,7 +366,8 @@ void Simulator::handle_message_hil_sensor(const mavlink_message_t *msg)
vbatt *= _battery.cell_count();
const float throttle = 0.0f; // simulate no throttle compensation to make the estimate predictable
_battery.updateBatteryStatus(now_us, vbatt, ibatt, true, true, 0, throttle, true);
_battery.updateBatteryStatus(now_us, vbatt, ibatt, true, battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0, throttle);
_last_battery_timestamp = now_us;
}