Simplify Battery-related Enum Naming

boards/bitcraze/crazyflie/syslink/syslink_main.h

@@ -139,7 +139,7 @@ class Syslink
 
 	// nrf chip schedules battery updates with SYSLINK_SEND_PERIOD_MS
 	static constexpr uint32_t SYSLINK_BATTERY_STATUS_INTERVAL_US = 10_ms;
-	Battery _battery{1, nullptr, SYSLINK_BATTERY_STATUS_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE};
+	Battery _battery{1, nullptr, SYSLINK_BATTERY_STATUS_INTERVAL_US, battery_status_s::SOURCE_POWER_MODULE};
 
 	int32_t _rssi;
 	battery_state _bstate;

msg/versioned/BatteryStatus.msg

@@ -1,4 +1,4 @@
-uint32 MESSAGE_VERSION = 0
+uint32 MESSAGE_VERSION = 1
 
 uint64 timestamp				# time since system start (microseconds)
 bool connected					# Whether or not a battery is connected, based on a voltage threshold
@@ -12,9 +12,9 @@ float32 time_remaining_s			# predicted time in seconds remaining until battery i
 float32 temperature				# Temperature of the battery in degrees Celcius, NaN if unknown
 uint8 cell_count				# Number of cells, 0 if unknown
 
-uint8 BATTERY_SOURCE_POWER_MODULE = 0
-uint8 BATTERY_SOURCE_EXTERNAL = 1
-uint8 BATTERY_SOURCE_ESCS = 2
+uint8 SOURCE_POWER_MODULE = 0
+uint8 SOURCE_EXTERNAL = 1
+uint8 SOURCE_ESCS = 2
 uint8 source					# Battery source
 uint8 priority					# Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
 uint16 capacity					# actual capacity of the battery
@@ -34,26 +34,26 @@ bool is_powering_off				# Power off event imminent indication, false if unknown
 bool is_required				# Set if the battery is explicitly required before arming
 
 
-uint8 BATTERY_WARNING_NONE = 0			# no battery low voltage warning active
-uint8 BATTERY_WARNING_LOW = 1			# warning of low voltage
-uint8 BATTERY_WARNING_CRITICAL = 2		# critical voltage, return / abort immediately
-uint8 BATTERY_WARNING_EMERGENCY = 3		# immediate landing required
-uint8 BATTERY_WARNING_FAILED = 4		# the battery has failed completely
-uint8 BATTERY_STATE_UNHEALTHY = 6 		# Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field.
-uint8 BATTERY_STATE_CHARGING = 7 		# Battery is charging
+uint8 WARNING_NONE = 0			# no battery low voltage warning active
+uint8 WARNING_LOW = 1			# warning of low voltage
+uint8 WARNING_CRITICAL = 2		# critical voltage, return / abort immediately
+uint8 WARNING_EMERGENCY = 3		# immediate landing required
+uint8 WARNING_FAILED = 4		# the battery has failed completely
+uint8 STATE_UNHEALTHY = 6 		# Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field.
+uint8 STATE_CHARGING = 7 		# Battery is charging
 
-uint8 BATTERY_FAULT_DEEP_DISCHARGE = 0 		# Battery has deep discharged
-uint8 BATTERY_FAULT_SPIKES = 1 			# Voltage spikes
-uint8 BATTERY_FAULT_CELL_FAIL= 2 		# One or more cells have failed
-uint8 BATTERY_FAULT_OVER_CURRENT = 3 		# Over-current
-uint8 BATTERY_FAULT_OVER_TEMPERATURE = 4 	# Over-temperature
-uint8 BATTERY_FAULT_UNDER_TEMPERATURE = 5 	# Under-temperature fault
-uint8 BATTERY_FAULT_INCOMPATIBLE_VOLTAGE = 6 	# Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage).
-uint8 BATTERY_FAULT_INCOMPATIBLE_FIRMWARE = 7 	# Battery firmware is not compatible with current autopilot firmware
-uint8 BATTERY_FAULT_INCOMPATIBLE_MODEL = 8 	# Battery model is not supported by the system
-uint8 BATTERY_FAULT_HARDWARE_FAILURE = 9 	# hardware problem
-uint8 BATTERY_FAULT_FAILED_TO_ARM = 10 		# Battery had a problem while arming
-uint8 BATTERY_FAULT_COUNT = 11 			# Counter - keep it as last element!
+uint8 FAULT_DEEP_DISCHARGE = 0 		# Battery has deep discharged
+uint8 FAULT_SPIKES = 1 			# Voltage spikes
+uint8 FAULT_CELL_FAIL= 2 		# One or more cells have failed
+uint8 FAULT_OVER_CURRENT = 3 		# Over-current
+uint8 FAULT_OVER_TEMPERATURE = 4 	# Over-temperature
+uint8 FAULT_UNDER_TEMPERATURE = 5 	# Under-temperature fault
+uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 	# Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage).
+uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 	# Battery firmware is not compatible with current autopilot firmware
+uint8 FAULT_INCOMPATIBLE_MODEL = 8 	# Battery model is not supported by the system
+uint8 FAULT_HARDWARE_FAILURE = 9 	# hardware problem
+uint8 FAULT_FAILED_TO_ARM = 10 		# Battery had a problem while arming
+uint8 FAULT_COUNT = 11 			# Counter - keep it as last element!
 
 uint16 faults					# Smart battery supply status/fault flags (bitmask) for health indication.
 uint8 warning					# Current battery warning

src/drivers/actuators/voxl_esc/voxl_esc.cpp

@@ -47,7 +47,7 @@ VoxlEsc::VoxlEsc() :
 	_mixing_output{"VOXL_ESC", VOXL_ESC_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false},
 	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
 	_output_update_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": output update interval")),
-	_battery(1, nullptr, _battery_report_interval, battery_status_s::BATTERY_SOURCE_POWER_MODULE)
+	_battery(1, nullptr, _battery_report_interval, battery_status_s::SOURCE_POWER_MODULE)
 {
 	_device = VOXL_ESC_DEFAULT_PORT;
 
@@ -1547,7 +1547,7 @@ void VoxlEsc::print_params()
 
 	PX4_INFO("Params: VOXL_ESC_VLOG: %" PRId32,    _parameters.verbose_logging);
 	PX4_INFO("Params: VOXL_ESC_PUB_BST: %" PRId32, _parameters.publish_battery_status);
-	
+
 	PX4_INFO("Params: VOXL_ESC_T_WARN: %" PRId32, _parameters.esc_warn_temp_threshold);
 	PX4_INFO("Params: VOXL_ESC_T_OVER: %" PRId32, _parameters.esc_over_temp_threshold);
 }

src/drivers/batt_smbus/batt_smbus.cpp

@@ -172,19 +172,19 @@ void BATT_SMBUS::RunImpl()
 
 		// Check if max lifetime voltage delta is greater than allowed.
 		if (_lifetime_max_delta_cell_voltage > BATT_CELL_VOLTAGE_THRESHOLD_FAILED) {
-			new_report.warning = battery_status_s::BATTERY_WARNING_CRITICAL;
+			new_report.warning = battery_status_s::WARNING_CRITICAL;
 
 		} else if (new_report.remaining > _low_thr) {
-			new_report.warning = battery_status_s::BATTERY_WARNING_NONE;
+			new_report.warning = battery_status_s::WARNING_NONE;
 
 		} else if (new_report.remaining > _crit_thr) {
-			new_report.warning = battery_status_s::BATTERY_WARNING_LOW;
+			new_report.warning = battery_status_s::WARNING_LOW;
 
 		} else if (new_report.remaining > _emergency_thr) {
-			new_report.warning = battery_status_s::BATTERY_WARNING_CRITICAL;
+			new_report.warning = battery_status_s::WARNING_CRITICAL;
 
 		} else {
-			new_report.warning = battery_status_s::BATTERY_WARNING_EMERGENCY;
+			new_report.warning = battery_status_s::WARNING_EMERGENCY;
 		}
 
 		new_report.interface_error = perf_event_count(_interface->_interface_errors);

src/drivers/power_monitor/ina220/ina220.cpp

@@ -52,7 +52,7 @@ INA220::INA220(const I2CSPIDriverConfig &config, int battery_index) :
 	_collection_errors(perf_alloc(PC_COUNT, "ina220_collection_err")),
 	_measure_errors(perf_alloc(PC_COUNT, "ina220_measurement_err")),
 	_ch_type((PM_CH_TYPE)config.custom2),
-	_battery(battery_index, this, INA220_SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE)
+	_battery(battery_index, this, INA220_SAMPLE_INTERVAL_US, battery_status_s::SOURCE_POWER_MODULE)
 {
 	float fvalue = MAX_CURRENT;
 	_max_current = fvalue;

src/drivers/power_monitor/ina226/ina226.cpp

@@ -49,7 +49,7 @@ INA226::INA226(const I2CSPIDriverConfig &config, int battery_index) :
 	_comms_errors(perf_alloc(PC_COUNT, "ina226_com_err")),
 	_collection_errors(perf_alloc(PC_COUNT, "ina226_collection_err")),
 	_measure_errors(perf_alloc(PC_COUNT, "ina226_measurement_err")),
-	_battery(battery_index, this, INA226_SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE)
+	_battery(battery_index, this, INA226_SAMPLE_INTERVAL_US, battery_status_s::SOURCE_POWER_MODULE)
 {
 	float fvalue = MAX_CURRENT;
 	_max_current = fvalue;

src/drivers/power_monitor/ina228/ina228.cpp

@@ -49,7 +49,7 @@ INA228::INA228(const I2CSPIDriverConfig &config, int battery_index) :
 	_comms_errors(perf_alloc(PC_COUNT, "ina228_com_err")),
 	_collection_errors(perf_alloc(PC_COUNT, "ina228_collection_err")),
 	_measure_errors(perf_alloc(PC_COUNT, "ina228_measurement_err")),
-	_battery(battery_index, this, INA228_SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE)
+	_battery(battery_index, this, INA228_SAMPLE_INTERVAL_US, battery_status_s::SOURCE_POWER_MODULE)
 {
 	float fvalue = MAX_CURRENT;
 	_max_current = fvalue;

src/drivers/power_monitor/ina238/ina238.cpp

@@ -45,7 +45,7 @@ INA238::INA238(const I2CSPIDriverConfig &config, int battery_index) :
 	_sample_perf(perf_alloc(PC_ELAPSED, "ina238_read")),
 	_comms_errors(perf_alloc(PC_COUNT, "ina238_com_err")),
 	_collection_errors(perf_alloc(PC_COUNT, "ina238_collection_err")),
-	_battery(battery_index, this, INA238_SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE)
+	_battery(battery_index, this, INA238_SAMPLE_INTERVAL_US, battery_status_s::SOURCE_POWER_MODULE)
 {
 	float fvalue = DEFAULT_MAX_CURRENT;
 	_max_current = fvalue;

src/drivers/power_monitor/voxlpm/voxlpm.cpp

@@ -54,7 +54,7 @@ VOXLPM::VOXLPM(const I2CSPIDriverConfig &config) :
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample")),
 	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms_errors")),
 	_ch_type((VOXLPM_CH_TYPE)config.custom1),
-	_battery(1, this, _meas_interval_us, battery_status_s::BATTERY_SOURCE_POWER_MODULE)
+	_battery(1, this, _meas_interval_us, battery_status_s::SOURCE_POWER_MODULE)
 {
 }
 

src/drivers/smart_battery/batmon/batmon.cpp

@@ -199,19 +199,19 @@ void Batmon::RunImpl()
 		// TODO: This critical setting should be set with BMS info or through a paramter
 		// Setting a hard coded BATT_CELL_VOLTAGE_THRESHOLD_FAILED may not be appropriate
 		//if (_lifetime_max_delta_cell_voltage > BATT_CELL_VOLTAGE_THRESHOLD_FAILED) {
-		//	new_report.warning = battery_status_s::BATTERY_WARNING_CRITICAL;
+		//	new_report.warning = battery_status_s::WARNING_CRITICAL;
 
 		if (new_report.remaining > _low_thr) {
-			new_report.warning = battery_status_s::BATTERY_WARNING_NONE;
+			new_report.warning = battery_status_s::WARNING_NONE;
 
 		} else if (new_report.remaining > _crit_thr) {
-			new_report.warning = battery_status_s::BATTERY_WARNING_LOW;
+			new_report.warning = battery_status_s::WARNING_LOW;
 
 		} else if (new_report.remaining > _emergency_thr) {
-			new_report.warning = battery_status_s::BATTERY_WARNING_CRITICAL;
+			new_report.warning = battery_status_s::WARNING_CRITICAL;
 
 		} else {
-			new_report.warning = battery_status_s::BATTERY_WARNING_EMERGENCY;
+			new_report.warning = battery_status_s::WARNING_EMERGENCY;
 		}
 
 		new_report.interface_error = perf_event_count(_interface->_interface_errors);

src/drivers/uavcan/sensors/battery.cpp

@@ -44,7 +44,7 @@ UavcanBatteryBridge::UavcanBatteryBridge(uavcan::INode &node) :
 	ModuleParams(nullptr),
 	_sub_battery(node),
 	_sub_battery_aux(node),
-	_warning(battery_status_s::BATTERY_WARNING_NONE),
+	_warning(battery_status_s::WARNING_NONE),
 	_last_timestamp(0)
 {
 }
@@ -215,14 +215,14 @@ void
 UavcanBatteryBridge::determineWarning(float remaining)
 {
 	// propagate warning state only if the state is higher, otherwise remain in current warning state
-	if (remaining < _param_bat_emergen_thr.get() || (_warning == battery_status_s::BATTERY_WARNING_EMERGENCY)) {
-		_warning = battery_status_s::BATTERY_WARNING_EMERGENCY;
+	if (remaining < _param_bat_emergen_thr.get() || (_warning == battery_status_s::WARNING_EMERGENCY)) {
+		_warning = battery_status_s::WARNING_EMERGENCY;
 
-	} else if (remaining < _param_bat_crit_thr.get() || (_warning == battery_status_s::BATTERY_WARNING_CRITICAL)) {
-		_warning = battery_status_s::BATTERY_WARNING_CRITICAL;
+	} else if (remaining < _param_bat_crit_thr.get() || (_warning == battery_status_s::WARNING_CRITICAL)) {
+		_warning = battery_status_s::WARNING_CRITICAL;
 
-	} else if (remaining < _param_bat_low_thr.get() || (_warning == battery_status_s::BATTERY_WARNING_LOW)) {
-		_warning = battery_status_s::BATTERY_WARNING_LOW;
+	} else if (remaining < _param_bat_low_thr.get() || (_warning == battery_status_s::WARNING_LOW)) {
+		_warning = battery_status_s::WARNING_LOW;
 	}
 }
 

src/drivers/uavcan/sensors/battery.hpp

@@ -107,10 +107,10 @@ class UavcanBatteryBridge : public UavcanSensorBridgeBase, public ModuleParams
 
 	static_assert(battery_status_s::MAX_INSTANCES <= BATTERY_INDEX_4, "Battery array too big");
 
-	Battery battery1 = {BATTERY_INDEX_1, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_EXTERNAL};
-	Battery battery2 = {BATTERY_INDEX_2, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_EXTERNAL};
-	Battery battery3 = {BATTERY_INDEX_3, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_EXTERNAL};
-	Battery battery4 = {BATTERY_INDEX_4, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_EXTERNAL};
+	Battery battery1 = {BATTERY_INDEX_1, this, SAMPLE_INTERVAL_US, battery_status_s::SOURCE_EXTERNAL};
+	Battery battery2 = {BATTERY_INDEX_2, this, SAMPLE_INTERVAL_US, battery_status_s::SOURCE_EXTERNAL};
+	Battery battery3 = {BATTERY_INDEX_3, this, SAMPLE_INTERVAL_US, battery_status_s::SOURCE_EXTERNAL};
+	Battery battery4 = {BATTERY_INDEX_4, this, SAMPLE_INTERVAL_US, battery_status_s::SOURCE_EXTERNAL};
 
 	Battery *_battery[battery_status_s::MAX_INSTANCES] = { &battery1, &battery2, &battery3, &battery4 };
 };

src/lib/battery/battery.cpp

@@ -307,16 +307,16 @@ void Battery::estimateStateOfCharge()
 uint8_t Battery::determineWarning(float state_of_charge)
 {
 	if (state_of_charge < _params.emergen_thr) {
-		return battery_status_s::BATTERY_WARNING_EMERGENCY;
+		return battery_status_s::WARNING_EMERGENCY;
 
 	} else if (state_of_charge < _params.crit_thr) {
-		return battery_status_s::BATTERY_WARNING_CRITICAL;
+		return battery_status_s::WARNING_CRITICAL;
 
 	} else if (state_of_charge < _params.low_thr) {
-		return battery_status_s::BATTERY_WARNING_LOW;
+		return battery_status_s::WARNING_LOW;
 
 	} else {
-		return battery_status_s::BATTERY_WARNING_NONE;
+		return battery_status_s::WARNING_NONE;
 	}
 }
 
@@ -327,7 +327,7 @@ uint16_t Battery::determineFaults()
 	if ((_params.n_cells > 0)
 	    && (_voltage_v > (_params.n_cells * _params.v_charged * 1.05f))) {
 		// Reported as a "spike" since "over-voltage" does not exist in MAV_BATTERY_FAULT
-		faults |= (1 << battery_status_s::BATTERY_FAULT_SPIKES);
+		faults |= (1 << battery_status_s::FAULT_SPIKES);
 	}
 
 	return faults;

src/lib/battery/battery.h

@@ -175,7 +175,7 @@ class Battery : public ModuleParams
 	float _state_of_charge_volt_based{-1.f}; // [0,1]
 	float _state_of_charge{-1.f}; // [0,1]
 	float _scale{1.f};
-	uint8_t _warning{battery_status_s::BATTERY_WARNING_NONE};
+	uint8_t _warning{battery_status_s::WARNING_NONE};
 	hrt_abstime _last_timestamp{0};
 	bool _armed{false};
 	bool _vehicle_status_is_fw{false};

src/modules/battery_status/battery_status.cpp

@@ -137,9 +137,9 @@ class BatteryStatus : public ModuleBase<BatteryStatus>, public ModuleParams, pub
 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, 0),
+	_battery1(1, this, SAMPLE_INTERVAL_US, battery_status_s::SOURCE_POWER_MODULE, 0),
 #if BOARD_NUMBER_BRICKS > 1
-	_battery2(2, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE, 1),
+	_battery2(2, this, SAMPLE_INTERVAL_US, battery_status_s::SOURCE_POWER_MODULE, 1),
 #endif
 	_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME))
 {

src/modules/commander/Commander.cpp

@@ -2198,13 +2198,13 @@ void Commander::updateTunes()
 
 	} else if (!_vehicle_status.usb_connected &&
 		   (_vehicle_status.hil_state != vehicle_status_s::HIL_STATE_ON) &&
-		   (_battery_warning == battery_status_s::BATTERY_WARNING_CRITICAL)) {
+		   (_battery_warning == battery_status_s::WARNING_CRITICAL)) {
 
 		/* play tune on battery critical */
 		set_tune(tune_control_s::TUNE_ID_BATTERY_WARNING_FAST);
 
 	} else if ((_vehicle_status.hil_state != vehicle_status_s::HIL_STATE_ON) &&
-		   (_battery_warning == battery_status_s::BATTERY_WARNING_LOW)) {
+		   (_battery_warning == battery_status_s::WARNING_LOW)) {
 		/* play tune on battery warning */
 		set_tune(tune_control_s::TUNE_ID_BATTERY_WARNING_SLOW);
 
@@ -2498,10 +2498,10 @@ void Commander::control_status_leds(bool changed, const uint8_t battery_warning)
 			if (_vehicle_status.failsafe) {
 				led_color = led_control_s::COLOR_PURPLE;
 
-			} else if (battery_warning == battery_status_s::BATTERY_WARNING_LOW) {
+			} else if (battery_warning == battery_status_s::WARNING_LOW) {
 				led_color = led_control_s::COLOR_AMBER;
 
-			} else if (battery_warning == battery_status_s::BATTERY_WARNING_CRITICAL) {
+			} else if (battery_warning == battery_status_s::WARNING_CRITICAL) {
 				led_color = led_control_s::COLOR_RED;
 
 			} else {
@@ -2893,7 +2893,7 @@ void Commander::battery_status_check()
 	// Handle shutdown request from emergency battery action
 	if (_battery_warning != _failsafe_flags.battery_warning) {
 
-		if (_failsafe_flags.battery_warning == battery_status_s::BATTERY_WARNING_EMERGENCY) {
+		if (_failsafe_flags.battery_warning == battery_status_s::WARNING_EMERGENCY) {
 #if defined(BOARD_HAS_POWER_CONTROL)
 
 			if (!isArmed() && (px4_shutdown_request(60_s) == 0)) {

src/modules/commander/Commander.hpp

@@ -263,7 +263,7 @@ class Commander : public ModuleBase<Commander>, public ModuleParams
 
 	hrt_abstime _last_health_and_arming_check{0};
 
-	uint8_t		_battery_warning{battery_status_s::BATTERY_WARNING_NONE};
+	uint8_t		_battery_warning{battery_status_s::WARNING_NONE};
 
 	bool _failsafe_user_override_request{false}; ///< override request due to stick movements