px4io delete old v1 battery current and voltage

src/drivers/px4io/px4io.cpp

@@ -74,7 +74,6 @@
 #include <systemlib/param/param.h>
 #include <systemlib/circuit_breaker.h>
 #include <systemlib/mavlink_log.h>
-#include <systemlib/battery.h>
 
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_outputs.h>
@@ -83,7 +82,6 @@
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/rc_channels.h>
-#include <uORB/topics/battery_status.h>
 #include <uORB/topics/servorail_status.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/multirotor_motor_limits.h>
@@ -183,14 +181,6 @@ public:
 	*/
 	int      		set_update_rate(int rate);
 
-	/**
-	* Set the battery current scaling and bias
-	*
-	* @param[in] amp_per_volt
-	* @param[in] amp_bias
-	*/
-	void      		set_battery_current_scaling(float amp_per_volt, float amp_bias);
-
 	/**
 	 * Push failsafe values to IO.
 	 *
@@ -275,7 +265,6 @@ private:
 	/* advertised topics */
 	orb_advert_t 		_to_input_rc;		///< rc inputs from io
 	orb_advert_t		_to_outputs;		///< mixed servo outputs topic
-	orb_advert_t		_to_battery;		///< battery status / voltage
 	orb_advert_t		_to_servorail;		///< servorail status
 	orb_advert_t		_to_safety;		///< status of safety
 	orb_advert_t 		_to_mixer_status; 	///< mixer status flags
@@ -287,15 +276,9 @@ private:
 	bool			_lockdown_override;	///< allow to override the safety lockdown
 	bool			_armed;			///< wether the system is armed
 
-	float			_battery_amp_per_volt;	///< current sensor amps/volt
-	float			_battery_amp_bias;	///< current sensor bias
-	float			_battery_mamphour_total;///< amp hours consumed so far
-	uint64_t		_battery_last_timestamp;///< last amp hour calculation timestamp
 	bool			_cb_flighttermination;	///< true if the flight termination circuit breaker is enabled
 	bool 			_in_esc_calibration_mode;	///< do not send control outputs to IO (used for esc calibration)
 
-	Battery			_battery;
-
 	int32_t			_rssi_pwm_chan; ///< RSSI PWM input channel
 	int32_t			_rssi_pwm_max; ///< max RSSI input on PWM channel
 	int32_t			_rssi_pwm_min; ///< min RSSI input on PWM channel
@@ -303,7 +286,6 @@ private:
 	bool			_analog_rc_rssi_stable; ///< true when analog RSSI input is stable
 	float			_analog_rc_rssi_volt; ///< analog RSSI voltage
 
-	float			_last_throttle; ///< last throttle value for battery calculation
 	bool			_test_fmu_fail; ///< To test what happens if IO looses FMU
 
 	/**
@@ -504,7 +486,6 @@ PX4IO::PX4IO(device::Device *interface) :
 	_t_vehicle_command(-1),
 	_to_input_rc(nullptr),
 	_to_outputs(nullptr),
-	_to_battery(nullptr),
 	_to_servorail(nullptr),
 	_to_safety(nullptr),
 	_to_mixer_status(nullptr),
@@ -513,20 +494,14 @@ PX4IO::PX4IO(device::Device *interface) :
 	_primary_pwm_device(false),
 	_lockdown_override(false),
 	_armed(false),
-	_battery_amp_per_volt(90.0f / 5.0f), // this matches the 3DR current sensor
-	_battery_amp_bias(0),
-	_battery_mamphour_total(0),
-	_battery_last_timestamp(0),
 	_cb_flighttermination(true),
 	_in_esc_calibration_mode(false),
-	_battery{},
 	_rssi_pwm_chan(0),
 	_rssi_pwm_max(0),
 	_rssi_pwm_min(0),
 	_thermal_control(-1),
 	_analog_rc_rssi_stable(false),
 	_analog_rc_rssi_volt(-1.0f),
-	_last_throttle(0.0f),
 	_test_fmu_fail(false)
 {
 	/* we need this potentially before it could be set in task_main */
@@ -1054,21 +1029,6 @@ PX4IO::task_main()
 					io_set_rc_config();
 				}
 
-				/* re-set the battery scaling */
-				int32_t voltage_scaling_val = 10000;
-				param_t voltage_scaling_param;
-
-				/* set battery voltage scaling */
-				param_get(voltage_scaling_param = param_find("BAT_V_SCALE_IO"), &voltage_scaling_val);
-
-				/* send scaling voltage to IO */
-				uint16_t scaling = voltage_scaling_val;
-				int pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE, &scaling, 1);
-
-				if (pret != OK) {
-					mavlink_log_critical(&_mavlink_log_pub, "IO vscale upload failed");
-				}
-
 				/* send RC throttle failsafe value to IO */
 				int32_t failsafe_param_val;
 				param_t failsafe_param = param_find("RC_FAILS_THR");
@@ -1080,7 +1040,7 @@ PX4IO::task_main()
 					if (failsafe_param_val > 0) {
 
 						uint16_t failsafe_thr = failsafe_param_val;
-						pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, &failsafe_thr, 1);
+						int pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, &failsafe_thr, 1);
 
 						if (pret != OK) {
 							mavlink_log_critical(&_mavlink_log_pub, "failsafe upload failed, FS: %d us", (int)failsafe_thr);
@@ -1259,9 +1219,6 @@ PX4IO::task_main()
 					param_get(parm_handle, &param_val);
 					(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_MOTOR_SLEW_MAX, FLOAT_TO_REG(param_val));
 				}
-
-				// Also trigger param update in Battery instance.
-				_battery.updateParams();
 			}
 
 		}
@@ -1371,11 +1328,6 @@ PX4IO::io_set_control_state(unsigned group)
 		regs[i] = FLOAT_TO_REG(ctrl);
 	}
 
-	// save last throttle for battery calculation
-	if (group == 0) {
-		_last_throttle = controls.control[3];
-	}
-
 	if (!_test_fmu_fail) {
 		/* copy values to registers in IO */
 		return io_reg_set(PX4IO_PAGE_CONTROLS, group * PX4IO_PROTOCOL_MAX_CONTROL_COUNT, regs, _max_controls);
@@ -2255,17 +2207,7 @@ PX4IO::print_status(bool extended_status)
 	/* now clear alarms */
 	io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, 0xFFFF);
 
-	if (_hardware == 1) {
+	if (_hardware == 2) {
-		printf("vbatt mV %u ibatt mV %u vbatt scale %u\n",
-		       io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VBATT),
-		       io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT),
-		       io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE));
-		printf("amp_per_volt %.3f amp_offset %.3f mAh discharged %.3f\n",
-		       (double)_battery_amp_per_volt,
-		       (double)_battery_amp_bias,
-		       (double)_battery_mamphour_total);
-
-	} else if (_hardware == 2) {
 		printf("vservo %u mV vservo scale %u\n",
 		       io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VSERVO),
 		       io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VSERVO_SCALE));
@@ -3041,13 +2983,6 @@ PX4IO::set_update_rate(int rate)
 	return 0;
 }
 
-void
-PX4IO::set_battery_current_scaling(float amp_per_volt, float amp_bias)
-{
-	_battery_amp_per_volt = amp_per_volt;
-	_battery_amp_bias = amp_bias;
-}
-
 extern "C" __EXPORT int px4io_main(int argc, char *argv[]);
 
 namespace
@@ -3634,18 +3569,6 @@ px4io_main(int argc, char *argv[])
 		exit(0);
 	}
 
-	if (!strcmp(argv[1], "current")) {
-		if ((argc > 3)) {
-			g_dev->set_battery_current_scaling(atof(argv[2]), atof(argv[3]));
-
-		} else {
-			errx(1, "missing argument (apm_per_volt, amp_offset)");
-			return 1;
-		}
-
-		exit(0);
-	}
-
 	if (!strcmp(argv[1], "safety_off")) {
 		int ret = g_dev->ioctl(NULL, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0);
 
@@ -3822,7 +3745,7 @@ px4io_main(int argc, char *argv[])
 
 out:
 	errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug <level>',\n"
-	     "'recovery', 'limit <rate>', 'current', 'bind', 'checkcrc', 'safety_on', 'safety_off',\n"
+	     "'recovery', 'limit <rate>', 'bind', 'checkcrc', 'safety_on', 'safety_off',\n"
 	     "'forceupdate', 'update', 'sbus1_out', 'sbus2_out', 'rssi_analog' or 'rssi_pwm',\n"
 	     "'test_fmu_fail', 'test_fmu_ok'");
 }

src/modules/px4iofirmware/protocol.h

@@ -127,8 +127,6 @@
 #define PX4IO_P_STATUS_ALARMS_PWM_ERROR		(1 << 6) /* PWM configuration or output was bad */
 #define PX4IO_P_STATUS_ALARMS_VSERVO_FAULT	(1 << 7) /* [2] VServo was out of the valid range (2.5 - 5.5 V) */
 
-#define PX4IO_P_STATUS_VBATT			4	/* [1] battery voltage in mV */
-#define PX4IO_P_STATUS_IBATT			5	/* [1] battery current (raw ADC) */
 #define PX4IO_P_STATUS_VSERVO			6	/* [2] servo rail voltage in mV */
 #define PX4IO_P_STATUS_VRSSI			7	/* [2] RSSI voltage */
 #define PX4IO_P_STATUS_PRSSI			8	/* [2] RSSI PWM value */
@@ -195,7 +193,6 @@
 #define PX4IO_P_SETUP_PWM_ALTRATE		4	/* 'high' PWM frame output rate in Hz */
 #define PX4IO_P_SETUP_RELAYS_PAD		5
 
-#define PX4IO_P_SETUP_VBATT_SCALE		6	/* hardware rev [1] battery voltage correction factor (float) */
 #define PX4IO_P_SETUP_VSERVO_SCALE		6	/* hardware rev [2] servo voltage correction factor (float) */
 #define PX4IO_P_SETUP_DSM			7	/* DSM bind state */
 enum {							/* DSM bind states */

src/modules/px4iofirmware/registers.c

@@ -84,8 +84,6 @@ volatile uint16_t	r_page_status[] = {
 	[PX4IO_P_STATUS_CPULOAD]		= 0,
 	[PX4IO_P_STATUS_FLAGS]			= 0,
 	[PX4IO_P_STATUS_ALARMS]			= 0,
-	[PX4IO_P_STATUS_VBATT]			= 0,
-	[PX4IO_P_STATUS_IBATT]			= 0,
 	[PX4IO_P_STATUS_VSERVO]			= 0,
 	[PX4IO_P_STATUS_VRSSI]			= 0,
 	[PX4IO_P_STATUS_PRSSI]			= 0,
@@ -635,10 +633,6 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			pwm_configure_rates(r_setup_pwm_rates, r_setup_pwm_defaultrate, value);
 			break;
 
-		case PX4IO_P_SETUP_VBATT_SCALE:
-			r_page_setup[PX4IO_P_SETUP_VBATT_SCALE] = value;
-			break;
-
 		case PX4IO_P_SETUP_SET_DEBUG:
 			r_page_setup[PX4IO_P_SETUP_SET_DEBUG] = value;
 			isr_debug(0, "set debug %u\n", (unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG]);

src/modules/sensors/sensor_params_battery.c

@@ -31,15 +31,6 @@
  *
  ****************************************************************************/
 
-/**
- * Scaling factor for battery voltage sensor on PX4IO.
- *
- * @min 1
- * @max 100000
- * @group Battery Calibration
- */
-PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000);
-
 /**
  * Scaling from ADC counts to volt on the ADC input (battery voltage)
  *