battery: delete unused armed

boards/bitcraze/crazyflie/syslink/syslink_main.cpp

@@ -411,7 +411,7 @@ 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, true, 0, 0, false, true);
+		_battery.updateBatteryStatus(t, vbat, -1, true, true, 0, 0, true);
 
 
 		// Update battery charge state

src/drivers/driver_framework_wrapper/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp

@@ -205,7 +205,7 @@ int DfBebopBusWrapper::_publish(struct bebop_state_data &data)
 
 	// TODO Check if this is the right way for the Bebop
 	// We don't have current measurements
-	_battery.updateBatteryStatus(timestamp, data.battery_voltage_v, 0.0, true, true, 0, _last_throttle, _armed, false);
+	_battery.updateBatteryStatus(timestamp, data.battery_voltage_v, 0.0, true, true, 0, _last_throttle, false);
 
 	esc_status_s esc_status = {};
 

src/drivers/driver_framework_wrapper/df_ltc2946_wrapper/df_ltc2946_wrapper.cpp

@@ -141,7 +141,7 @@ int DfLtc2946Wrapper::_publish(const struct ltc2946_sensor_data &data)
 	_battery.updateBatteryStatus(t, data.battery_voltage_V, data.battery_current_A,
 				     connected, true, 1,
 				     ctrl.control[actuator_controls_s::INDEX_THROTTLE],
-				     vcontrol_mode.flag_armed, true);
+				     true);
 	return 0;
 }
 

src/drivers/power_monitor/voxlpm/voxlpm.cpp

@@ -162,7 +162,7 @@ VOXLPM::measure()
 
 		switch (_ch_type) {
 		case VOXLPM_CH_TYPE_VBATT: {
-				_battery.updateBatteryStatus(tnow, _voltage, _amperage, true, true, 0, 0, false, true);
+				_battery.updateBatteryStatus(tnow, _voltage, _amperage, true, true, 0, 0, true);
 			}
 
 		// fallthrough
@@ -183,7 +183,7 @@ VOXLPM::measure()
 	} else {
 		switch (_ch_type) {
 		case VOXLPM_CH_TYPE_VBATT: {
-				_battery.updateBatteryStatus(tnow, 0.0, 0.0, true, true, 0, 0, false, true);
+				_battery.updateBatteryStatus(tnow, 0.0, 0.0, true, true, 0, 0, true);
 			}
 			break;
 

src/lib/battery/battery.cpp

@@ -117,8 +117,7 @@ Battery::reset()
 void
 Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a,
 			     bool connected, bool selected_source, int priority,
-			     float throttle_normalized,
+			     float throttle_normalized, bool should_publish)
-			     bool armed, bool should_publish)
 {
 	reset();
 	_battery_status.timestamp = timestamp;
@@ -126,7 +125,7 @@ Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float curre
 	filterThrottle(throttle_normalized);
 	filterCurrent(current_a);
 	sumDischarged(timestamp, current_a);
-	estimateRemaining(_voltage_filtered_v, _current_filtered_a, _throttle_filtered, armed);
+	estimateRemaining(_voltage_filtered_v, _current_filtered_a, _throttle_filtered);
 	computeScale();
 
 	if (_battery_initialized) {
@@ -235,7 +234,7 @@ Battery::sumDischarged(hrt_abstime timestamp, float current_a)
 }
 
 void
-Battery::estimateRemaining(float voltage_v, float current_a, float throttle, bool armed)
+Battery::estimateRemaining(float voltage_v, float current_a, float throttle)
 {
 	// remaining battery capacity based on voltage
 	float cell_voltage = voltage_v / _params.n_cells;

src/lib/battery/battery.h

@@ -96,11 +96,10 @@ public:
 	 * @param selected_source: This battery is on the brick that the selected source for selected_source
 	 * @param priority: The brick number -1. The term priority refers to the Vn connection on the LTC4417
 	 * @param throttle_normalized: Throttle of the vehicle, between 0 and 1
-	 * @param armed: Arming state of the vehicle
 	 * @param should_publish If True, this function published a battery_status uORB message.
 	 */
 	void updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a, bool connected,
-				 bool selected_source, int priority, float throttle_normalized, bool armed, bool should_publish);
+				 bool selected_source, int priority, float throttle_normalized, bool should_publish);
 
 	/**
 	 * Publishes the uORB battery_status message with the most recently-updated data.
@@ -227,7 +226,7 @@ private:
 	void filterThrottle(float throttle);
 	void filterCurrent(float current_a);
 	void sumDischarged(hrt_abstime timestamp, float current_a);
-	void estimateRemaining(float voltage_v, float current_a, float throttle, bool armed);
+	void estimateRemaining(float voltage_v, float current_a, float throttle);
 	void determineWarning(bool connected);
 	void computeScale();
 

src/modules/battery_status/analog_battery.cpp

@@ -44,8 +44,7 @@ AnalogBattery::AnalogBattery(int index, ModuleParams *parent) :
 
 void
 AnalogBattery::updateBatteryStatusRawADC(hrt_abstime timestamp, int32_t voltage_raw, int32_t current_raw,
-		bool selected_source, int priority, float throttle_normalized,
+		bool selected_source, int priority, float throttle_normalized)
-		bool armed)
 {
 	float voltage_v = (voltage_raw * _analog_params.cnt_v_volt) * _analog_params.v_div;
 	float current_a = ((current_raw * _analog_params.cnt_v_curr) - _analog_params.v_offs_cur) * _analog_params.a_per_v;
@@ -55,7 +54,7 @@ AnalogBattery::updateBatteryStatusRawADC(hrt_abstime timestamp, int32_t voltage_
 
 
 	Battery::updateBatteryStatus(timestamp, voltage_v, current_a, connected,
-				     selected_source, priority, throttle_normalized, armed, _params.source == 0);
+				     selected_source, priority, throttle_normalized, _params.source == 0);
 }
 
 bool AnalogBattery::is_valid()
@@ -144,4 +143,4 @@ AnalogBattery::updateParams()
 	}
 
 	Battery::updateParams();
-}
+}

src/modules/battery_status/analog_battery.h

@@ -50,11 +50,9 @@ public:
 	 * @param selected_source This battery is on the brick that the selected source for selected_source
 	 * @param priority: The brick number -1. The term priority refers to the Vn connection on the LTC4417
 	 * @param throttle_normalized Throttle of the vehicle, between 0 and 1
-	 * @param armed Arming state of the vehicle
 	 */
 	void updateBatteryStatusRawADC(hrt_abstime timestamp, int32_t voltage_raw, int32_t current_raw,
-				       bool selected_source, int priority, float throttle_normalized,
+				       bool selected_source, int priority, float throttle_normalized);
-				       bool armed);
 
 	/**
 	 * Whether the ADC channel for the voltage of this battery is valid.

src/modules/battery_status/battery_status.cpp

@@ -59,7 +59,6 @@
 #include <uORB/Subscription.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/battery_status.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
@@ -130,11 +129,8 @@ public:
 private:
 	DevHandle 	_h_adc;				/**< ADC driver handle */
 
-	bool		_armed{false};				/**< arming status of the vehicle */
-
 	uORB::Subscription	_actuator_ctrl_0_sub{ORB_ID(actuator_controls_0)};		/**< attitude controls sub */
 	uORB::Subscription	_parameter_update_sub{ORB_ID(parameter_update)};				/**< notification of parameter updates */
-	uORB::Subscription	_vcontrol_mode_sub{ORB_ID(vehicle_control_mode)};		/**< vehicle control mode subscription */
 
 	AnalogBattery _battery1;
 
@@ -296,8 +292,7 @@ BatteryStatus::adc_poll()
 					bat_current_adc_readings[b],
 					selected_source == b,
 					b,
-					ctrl.control[actuator_controls_s::INDEX_THROTTLE],
+					ctrl.control[actuator_controls_s::INDEX_THROTTLE]
-					_armed
 				);
 			}
 		}
@@ -318,13 +313,6 @@ BatteryStatus::Run()
 
 	perf_begin(_loop_perf);
 
-	/* check vehicle status for changes to publication state */
-	if (_vcontrol_mode_sub.updated()) {
-		vehicle_control_mode_s vcontrol_mode{};
-		_vcontrol_mode_sub.copy(&vcontrol_mode);
-		_armed = vcontrol_mode.flag_armed;
-	}
-
 	/* check parameters for updates */
 	parameter_update_poll();
 

src/modules/simulator/simulator_mavlink.cpp

@@ -370,7 +370,7 @@ 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, armed, true);
+		_battery.updateBatteryStatus(now_us, vbatt, ibatt, true, true, 0, throttle, true);
 
 		_last_battery_timestamp = now_us;
 	}