Introduced battery_status uORB topic, changed sensors app to publish to it, extended px4io driver to publish to it. Both do only so if the battery voltage is reasonably high, at 3.3V

3 files changed, 73 insertions, 2 deletions

diff --git a/apps/uORB/objects_common.cpp b/apps/uORB/objects_common.cpp
index dbee15050..2d249a47f 100644
--- a/apps/uORB/objects_common.cpp
+++ b/apps/uORB/objects_common.cpp
@@ -71,6 +71,9 @@ ORB_DEFINE(vehicle_gps_position, struct vehicle_gps_position_s);
 #include "topics/vehicle_status.h"
 ORB_DEFINE(vehicle_status, struct vehicle_status_s);
 
+#include "topics/battery_status.h"
+ORB_DEFINE(battery_status, struct battery_status_s);
+
 #include "topics/vehicle_global_position.h"
 ORB_DEFINE(vehicle_global_position, struct vehicle_global_position_s);
 
diff --git a/apps/uORB/topics/battery_status.h b/apps/uORB/topics/battery_status.h
new file mode 100644
index 000000000..c40d0d4e5
--- /dev/null
+++ b/apps/uORB/topics/battery_status.h
@@ -0,0 +1,68 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file battery_status.h
+ *
+ * Definition of the battery status uORB topic.
+ */
+
+#ifndef BATTERY_STATUS_H_
+#define BATTERY_STATUS_H_
+
+#include "../uORB.h"
+#include <stdint.h>
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Battery voltages and status
+ */
+struct battery_status_s {
+	uint64_t	timestamp;		/**< microseconds since system boot, needed to integrate */
+	float   	voltage_v;		/**< Battery voltage in volts, filtered           	 */
+	float		current_a;		/**< Battery current in amperes, filtered, -1 if unknown */
+	float		discharged_mah;		/**< Discharged amount in mAh, filtered, -1 if unknown	 */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(battery_status);
+
+#endif
\ No newline at end of file
diff --git a/apps/uORB/topics/sensor_combined.h b/apps/uORB/topics/sensor_combined.h
index 0324500ac..1d25af35a 100644
--- a/apps/uORB/topics/sensor_combined.h
+++ b/apps/uORB/topics/sensor_combined.h
@@ -99,8 +99,8 @@ struct sensor_combined_s {
 	float baro_pres_mbar;			/**< Barometric pressure, already temp. comp.     */
 	float baro_alt_meter;			/**< Altitude, already temp. comp.                */
 	float baro_temp_celcius;		/**< Temperature in degrees celsius               */
-	float battery_voltage_v;		/**< Battery voltage in volts, filtered           */
-	float adc_voltage_v[3];			/**< ADC voltages of ADC Chan 11/12/13 or -1      */
+	float adc_voltage_v[4];			/**< ADC voltages of ADC Chan 10/11/12/13 or -1      */
+	float mcu_temp_celcius;			/**< Internal temperature measurement of MCU */
 	uint32_t baro_counter;			/**< Number of raw baro measurements taken        */
 	uint32_t battery_voltage_counter;	/**< Number of voltage measurements taken         */
 	bool battery_voltage_valid;		/**< True if battery voltage can be measured      */