Code cleanup

boards/bitcraze/crazyflie/syslink/syslink_main.h

@@ -137,7 +137,7 @@ private:
 
 	uORB::PublicationMulti<input_rc_s>		_rc_pub{ORB_ID(input_rc)};
 
-	Battery _battery;
+	Battery _battery{1, nullptr};
 
 	int32_t _rssi;
 	battery_state _bstate;

src/drivers/driver_framework_wrapper/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp

@@ -101,7 +101,7 @@ private:
 	orb_advert_t _battery_topic;
 	orb_advert_t _esc_topic;
 
-	Battery _battery;
+	Battery _battery{1, nullptr};
 	bool _armed;
 	float _last_throttle;
 
@@ -114,7 +114,7 @@ private:
 };
 
 DfBebopBusWrapper::DfBebopBusWrapper() :
-	BebopBus(BEBOP_BUS_DEVICE_PATH), _battery_topic(nullptr), _esc_topic(nullptr), _battery(), _armed(false),
+	BebopBus(BEBOP_BUS_DEVICE_PATH), _battery_topic(nullptr), _esc_topic(nullptr), _battery(1, nullptr), _armed(false),
 	_last_throttle(0.0f),
 	_battery_orb_class_instance(-1)
 {}

src/drivers/driver_framework_wrapper/df_ltc2946_wrapper/df_ltc2946_wrapper.cpp

@@ -69,7 +69,7 @@ public:
 private:
 	int _publish(const struct ltc2946_sensor_data &data);
 
-	Battery _battery{};
+	Battery _battery{1, nullptr};
 
 	int _actuator_ctrl_0_sub{-1};
 	int _vcontrol_mode_sub{-1};

src/drivers/power_monitor/voxlpm/voxlpm.cpp

@@ -46,7 +46,9 @@
 VOXLPM::VOXLPM(const char *path, int bus, int address, VOXLPM_CH_TYPE ch_type) :
 	I2C("voxlpm", path, bus, address, 400000),
 	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(I2C::get_device_id())),
-	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample"))
+	ModuleParams(nullptr),
+	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample")),
+	_battery(1, this)
 {
 	_ch_type = ch_type;
 
@@ -129,6 +131,13 @@ VOXLPM::Run()
 int
 VOXLPM::measure()
 {
+	parameter_update_s update;
+
+	if (_parameter_sub.update(&update)) {
+		updateParams();
+	}
+
+
 	_voltage = 0.0f;
 	_amperage = 0.0f;
 

src/drivers/power_monitor/voxlpm/voxlpm.hpp

@@ -68,8 +68,10 @@
 #include <battery/battery.h>
 
 #include <uORB/PublicationMulti.hpp>
+#include <uORB/Subscription.hpp>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/power_monitor.h>
+#include <uORB/topics/parameter_update.h>
 
 /*
  * Note that these are unshifted addresses.
@@ -142,7 +144,7 @@ enum VOXLPM_CH_TYPE {
 	VOXLPM_CH_TYPE_P5VDC
 };
 
-class VOXLPM : public device::I2C, public px4::ScheduledWorkItem
+class VOXLPM : public device::I2C, public px4::ScheduledWorkItem, public ModuleParams
 {
 public:
 	VOXLPM(const char *path, int bus, int address, VOXLPM_CH_TYPE ch_type);
@@ -161,6 +163,7 @@ private:
 	perf_counter_t		_sample_perf;
 
 	uORB::PublicationMulti<power_monitor_s>		_pm_pub_topic{ORB_ID(power_monitor)};
+	uORB::Subscription _parameter_sub{ORB_ID(parameter_update)};
 
 	power_monitor_s 	_pm_status{};
 

src/lib/battery/battery.h

@@ -63,7 +63,7 @@
 class Battery : public ModuleParams
 {
 public:
-	Battery(int index = 1, ModuleParams *parent = nullptr);
+	Battery(int index, ModuleParams *parent);
 
 	/**
 	 * Reset all battery stats and report invalid/nothing.
@@ -200,19 +200,12 @@ protected:
 		if (!firstcall) {
 			if ((float) fabs((float) *old_val - (float) previous_old_val) > FLT_EPSILON
 			    && (float) fabs((float) *old_val - (float) *new_val) > FLT_EPSILON) {
-				// TODO fix this error message. I was getting hardfaults while using this message, but they stopped
-				//  after removing this message. I was unable to determine why I was getting them.
-				PX4_WARN("Detected change of deprecated parameter %s. Please use the new parameter %s instead. "
-					 "The new value of the deprecated parameter will be copied to the new parameter.",
-					 param_name(old_param), param_name(new_param));
 				param_set_no_notification(new_param, old_val);
 				param_get(new_param, new_val);
 				return true;
 
 			} else if ((float) fabs((float) *new_val - (float) previous_new_val) > FLT_EPSILON
 				   && (float) fabs((float) *old_val - (float) *new_val) > FLT_EPSILON) {
-				PX4_INFO("Copying new value for %s to deprecated parameter %s.",
-					 param_name(new_param), param_name(old_param));
 				param_set_no_notification(old_param, new_val);
 				param_get(old_param, old_val);
 				return true;
@@ -220,9 +213,6 @@ protected:
 
 		} else {
 			if ((float) fabs((float) *old_val - (float) *new_val) > FLT_EPSILON) {
-				PX4_WARN("At boot, deprecated parameter %s is different from its replacement %s."
-					 " The new value will be overwritten by the old one. This should happen only once.",
-					 param_name(old_param), param_name(new_param));
 				param_set_no_notification(new_param, old_val);
 				param_get(new_param, new_val);
 				return true;

src/modules/battery_status/analog_battery.cpp

@@ -58,10 +58,6 @@ AnalogBattery::updateBatteryStatusRawADC(hrt_abstime timestamp, int32_t voltage_
 				     selected_source, priority, throttle_normalized, armed, _params.source == 0);
 }
 
-/**
- * Whether the ADC channel for the voltage of this battery is valid.
- * Corresponds to BOARD_BRICK_VALID_LIST
- */
 bool AnalogBattery::is_valid()
 {
 #ifdef BOARD_BRICK_VALID_LIST

src/modules/battery_status/analog_battery.h

@@ -39,7 +39,7 @@
 class AnalogBattery : public Battery
 {
 public:
-	AnalogBattery(int index = 1, ModuleParams *parent = nullptr);
+	AnalogBattery(int index, ModuleParams *parent);
 
 	/**
 	 * Update current battery status message.

src/modules/simulator/simulator.h

@@ -238,10 +238,14 @@ private:
 	hrt_abstime _last_sitl_timestamp{0};
 	hrt_abstime _last_battery_timestamp{0};
 
-	class : public Battery
+	class SimulatorBattery : public Battery
 	{
+	public:
+		SimulatorBattery() : Battery(1, nullptr) {}
+
 		virtual void updateParams() override
 		{
+			Battery::updateParams();
 			_params.v_empty = 3.5f;
 			_params.v_charged = 4.05f;
 			_params.n_cells = 4;