analog_battery.h

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#pragma once

#include <battery/battery.h>
#include <lib/mathlib/math/filter/AlphaFilter.hpp>
#include <parameters/param.h>
class AnalogBattery : public Battery
{
public:
	AnalogBattery(int index, ModuleParams *parent, const int sample_interval_us, const uint8_t source,
		      const uint8_t priority);

	/**
	 * Update current battery status message.
	 *
	 * @param voltage_raw Battery voltage read from ADC, volts
	 * @param current_raw Voltage of current sense resistor, volts
	 * @param timestamp Time at which the ADC was read (use hrt_absolute_time())
	 * @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);

	/**
	 * Whether the ADC channel for the voltage of this battery is valid.
	 * Corresponds to BOARD_BRICK_VALID_LIST
	 */
	bool is_valid();

	/**
	 * Which ADC channel is used for voltage reading of this battery
	 */
	int get_voltage_channel();

	/**
	 * Which ADC channel is used for current reading of this battery
	 */
	int get_current_channel();

protected:

	struct {
		param_t v_offs_cur;
		param_t v_div;
		param_t a_per_v;
		param_t v_channel;
		param_t v_filt;
		param_t i_filt;
	} _analog_param_handles;

	struct {
		float v_offs_cur;
		float v_div;
		float a_per_v;
		int32_t v_channel;
		float v_filt;
		float i_filt;
	} _analog_params;

	virtual void updateParams() override;

private:

	static constexpr int V_CHANNEL_DISABLED = -2;

	hrt_abstime _last_timestamp{0};
	AlphaFilter<float> _voltage_filter{};
	AlphaFilter<float> _current_filter{};
};