battery: pass priority in by setter

boards/bitcraze/crazyflie/syslink/syslink_main.cpp

@@ -404,7 +404,7 @@ Syslink::handle_message(syslink_message_t *msg)
 		memcpy(&vbat, &msg->data[1], sizeof(float));
 		//memcpy(&iset, &msg->data[5], sizeof(float));
 
-		_battery.updateBatteryStatus(t, vbat, -1, true, 0);
+		_battery.updateBatteryStatus(t, vbat, -1, true);
 
 		// Update battery charge state
 		if (charging) {

src/drivers/power_monitor/ina226/ina226.cpp

@@ -87,8 +87,7 @@ INA226::INA226(const I2CSPIDriverConfig &config, int battery_index) :
 		hrt_absolute_time(),
 		0.0,
 		0.0,
-		false,
+		false
-		0
 	);
 }
 
@@ -233,8 +232,7 @@ INA226::collect()
 		hrt_absolute_time(),
 		(float) _bus_voltage * INA226_VSCALE,
 		(float) _current * _current_lsb,
-		success,
+		success
-		0
 	);
 
 	perf_end(_sample_perf);
@@ -302,8 +300,7 @@ INA226::RunImpl()
 			hrt_absolute_time(),
 			0.0f,
 			0.0f,
-			false,
+			false
-			0
 		);
 
 		if (init() != PX4_OK) {

src/drivers/power_monitor/ina228/ina228.cpp

@@ -89,8 +89,7 @@ INA228::INA228(const I2CSPIDriverConfig &config, int battery_index) :
 		hrt_absolute_time(),
 		0.0,
 		0.0,
-		false,
+		false
-		0
 	);
 }
 
@@ -314,8 +313,7 @@ INA228::collect()
 		hrt_absolute_time(),
 		(float) _bus_voltage * INA228_VSCALE,
 		(float) _current * _current_lsb,
-		success,
+		success
-		0
 	);
 
 	perf_end(_sample_perf);
@@ -383,8 +381,7 @@ INA228::RunImpl()
 			hrt_absolute_time(),
 			0.0f,
 			0.0f,
-			false,
+			false
-			0
 		);
 
 		if (init() != PX4_OK) {

src/drivers/power_monitor/ina238/ina238.cpp

@@ -72,8 +72,7 @@ INA238::INA238(const I2CSPIDriverConfig &config, int battery_index) :
 		hrt_absolute_time(),
 		0.0,
 		0.0,
-		false,
+		false
-		0
 	);
 }
 
@@ -201,8 +200,7 @@ int INA238::collect()
 		hrt_absolute_time(),
 		(float) bus_voltage * INA238_VSCALE,
 		(float) current * _current_lsb,
-		success,
+		success
-		0
 	);
 
 	perf_end(_sample_perf);
@@ -261,8 +259,7 @@ void INA238::RunImpl()
 			hrt_absolute_time(),
 			0.0f,
 			0.0f,
-			false,
+			false
-			0
 		);
 
 		if (init() != PX4_OK) {

src/drivers/power_monitor/voxlpm/voxlpm.cpp

@@ -75,8 +75,7 @@ VOXLPM::init()
 			hrt_absolute_time(),
 			0.0,
 			0.0,
-			false,
+			false
-			0
 		);
 	}
 
@@ -347,8 +346,7 @@ VOXLPM::measure()
 				_battery.updateBatteryStatus(tnow,
 							     _voltage,
 							     _amperage,
-							     true,
+							     true);
-							     0);
 			}
 
 		// fallthrough
@@ -374,8 +372,7 @@ VOXLPM::measure()
 				_battery.updateBatteryStatus(tnow,
 							     0.0,
 							     0.0,
-							     true,
+							     true);
-							     0);
 			}
 			break;
 

src/lib/battery/battery.cpp

@@ -97,8 +97,7 @@ Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us,
 	updateParams();
 }
 
-void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v, float current_a, bool connected,
+void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v, float current_a, bool connected)
-				  int priority)
 {
 	if (!_battery_initialized) {
 		_voltage_filter_v.reset(voltage_v);
@@ -136,7 +135,7 @@ void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v,
 	battery_status.cell_count = _params.n_cells;
 	battery_status.connected = connected;
 	battery_status.source = _source;
-	battery_status.priority = priority;
+	battery_status.priority = _priority;
 	battery_status.capacity = _params.capacity > 0.f ? static_cast<uint16_t>(_params.capacity) : 0;
 	battery_status.id = static_cast<uint8_t>(_index);
 	battery_status.warning = _warning;

src/lib/battery/battery.h

@@ -85,16 +85,16 @@ public:
 	 */
 	float full_cell_voltage() { return _params.v_charged; }
 
+	void setPriority(const uint8_t priority) { _priority = priority; }
+
 	/**
 	 * Update current battery status message.
 	 *
 	 * @param voltage_raw: Battery voltage, in Volts
 	 * @param current_raw: Battery current, in Amps
 	 * @param timestamp: Time at which the ADC was read (use hrt_absolute_time())
-	 * @param priority: The brick number -1. The term priority refers to the Vn connection on the LTC4417
 	 */
-	void updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v, float current_a, bool connected,
+	void updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v, float current_a, bool connected);
-				 int priority);
 
 protected:
 	struct {
@@ -139,6 +139,7 @@ private:
 	uORB::PublicationMulti<battery_status_s> _battery_status_pub{ORB_ID(battery_status)};
 
 	const uint8_t _source{};
+	uint8_t _priority{0};
 	bool _battery_initialized{false};
 	AlphaFilter<float> _voltage_filter_v;
 	AlphaFilter<float> _current_filter_a;

src/modules/battery_status/analog_battery.cpp

@@ -49,9 +49,11 @@ static constexpr int DEFAULT_V_CHANNEL[1] = {0};
 static constexpr int DEFAULT_I_CHANNEL[1] = {0};
 #endif
 
-AnalogBattery::AnalogBattery(int index, ModuleParams *parent, const int sample_interval_us, const uint8_t source) :
+AnalogBattery::AnalogBattery(int index, ModuleParams *parent, const int sample_interval_us, const uint8_t source,
+			     const uint8_t priority) :
 	Battery(index, parent, sample_interval_us, source)
 {
+	Battery::setPriority(priority);
 	char param_name[17];
 
 	_analog_param_handles.v_offs_cur = param_find("BAT_V_OFFS_CURR");
@@ -70,8 +72,7 @@ AnalogBattery::AnalogBattery(int index, ModuleParams *parent, const int sample_i
 }
 
 void
-AnalogBattery::updateBatteryStatusADC(hrt_abstime timestamp, float voltage_raw, float current_raw,
+AnalogBattery::updateBatteryStatusADC(hrt_abstime timestamp, float voltage_raw, float current_raw)
-				      int priority)
 {
 	float voltage_v = voltage_raw * _analog_params.v_div;
 	float current_a = (current_raw - _analog_params.v_offs_cur) * _analog_params.a_per_v;
@@ -80,8 +81,7 @@ AnalogBattery::updateBatteryStatusADC(hrt_abstime timestamp, float voltage_raw,
 			 (BOARD_ADC_OPEN_CIRCUIT_V <= BOARD_VALID_UV || is_valid());
 
 
-	Battery::updateBatteryStatus(timestamp, voltage_v, current_a, connected,
+	Battery::updateBatteryStatus(timestamp, voltage_v, current_a, connected);
-				     priority);
 }
 
 bool AnalogBattery::is_valid()

src/modules/battery_status/analog_battery.h

@@ -39,7 +39,8 @@
 class AnalogBattery : public Battery
 {
 public:
-	AnalogBattery(int index, ModuleParams *parent, const int sample_interval_us, const uint8_t source);
+	AnalogBattery(int index, ModuleParams *parent, const int sample_interval_us, const uint8_t source,
+		      const uint8_t priority);
 
 	/**
 	 * Update current battery status message.
@@ -50,8 +51,7 @@ public:
 	 * @param source The source as defined by param BAT%d_SOURCE
 	 * @param priority: The brick number -1. The term priority refers to the Vn connection on the LTC4417
 	 */
-	void updateBatteryStatusADC(hrt_abstime timestamp, float voltage_raw, float current_raw,
+	void updateBatteryStatusADC(hrt_abstime timestamp, float voltage_raw, float current_raw);
-				    int priority);
 
 	/**
 	 * Whether the ADC channel for the voltage of this battery is valid.

src/modules/battery_status/battery_status.cpp

@@ -137,9 +137,9 @@ private:
 BatteryStatus::BatteryStatus() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
-	_battery1(1, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE),
+	_battery1(1, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE, 0),
 #if BOARD_NUMBER_BRICKS > 1
-	_battery2(2, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE),
+	_battery2(2, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE, 1),
 #endif
 	_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME))
 {
@@ -221,8 +221,7 @@ BatteryStatus::adc_poll()
 			_analogBatteries[b]->updateBatteryStatusADC(
 				hrt_absolute_time(),
 				bat_voltage_adc_readings[b],
-				bat_current_adc_readings[b],
+				bat_current_adc_readings[b]
-				b
 			);
 		}
 	}

src/modules/esc_battery/EscBattery.cpp

@@ -100,14 +100,12 @@ EscBattery::Run()
 		average_voltage_v /= esc_status.esc_count;
 
 		const bool connected = true;
-		const int priority = 0;
 
 		_battery.updateBatteryStatus(
 			esc_status.timestamp,
 			average_voltage_v,
 			total_current_a,
-			connected,
+			connected);
-			priority);
 	}
 }
 

src/modules/simulator/battery_simulator/BatterySimulator.cpp

@@ -99,7 +99,7 @@ void BatterySimulator::Run()
 	float vbatt = math::gradual(_battery_percentage, 0.f, 1.f, _battery.empty_cell_voltage(), _battery.full_cell_voltage());
 	vbatt *= _battery.cell_count();
 
-	_battery.updateBatteryStatus(now_us, vbatt, ibatt, true, 0);
+	_battery.updateBatteryStatus(now_us, vbatt, ibatt, true);
 
 	perf_end(_loop_perf);
 }