Copter: use voltage_average() so as to avoid INPUT_VOLTS

ArduCopter/defines.h

@@ -347,8 +347,8 @@ enum gcs_severity {
 #define DATA_RTL_REACHED_ALT            31
 
 // battery monitoring macros
-#define BATTERY_VOLTAGE(x) (x*(g.input_voltage/1024.0f))*g.volt_div_ratio
-#define CURRENT_AMPS(x) ((x*(g.input_voltage/1024.0f))-CURR_AMPS_OFFSET)*g.curr_amp_per_volt
+#define BATTERY_VOLTAGE(x) (x->voltage_average()*g.volt_div_ratio)
+#define CURRENT_AMPS(x) (x->voltage_average()-CURR_AMPS_OFFSET)*g.curr_amp_per_volt
 
 /* ************************************************************** */
 /* Expansion PIN's that people can use for various things. */

ArduCopter/sensors.pde

@@ -118,11 +118,11 @@ static void read_battery(void)
 
     if(g.battery_monitoring == 3 || g.battery_monitoring == 4) {
         batt_volt_analog_source->set_pin(g.battery_volt_pin);
-        battery_voltage1 = BATTERY_VOLTAGE(batt_volt_analog_source->read_average());
+        battery_voltage1 = BATTERY_VOLTAGE(batt_volt_analog_source);
     }
     if(g.battery_monitoring == 4) {
         batt_curr_analog_source->set_pin(g.battery_curr_pin);
-        current_amps1    = CURRENT_AMPS(batt_curr_analog_source->read_average());
+        current_amps1    = CURRENT_AMPS(batt_curr_analog_source);
         current_total1   += current_amps1 * 0.02778f;            // called at 100ms on average, .0002778 is 1/3600 (conversion to hours)
     }