uavcan/sensors/battery: add multiple battery filter instances

src/drivers/uavcan/sensors/battery.cpp

@@ -231,13 +231,13 @@ void
 UavcanBatteryBridge::filterData(const uavcan::ReceivedDataStructure<uavcan::equipment::power::BatteryInfo> &msg,
 				uint8_t instance)
 {
-	_battery.setConnected(true);
-	_battery.updateVoltage(msg.voltage);
-	_battery.updateCurrent(msg.current);
-	_battery.updateBatteryStatus(hrt_absolute_time());
+	_battery[instance]->setConnected(true);
+	_battery[instance]->updateVoltage(msg.voltage);
+	_battery[instance]->updateCurrent(msg.current);
+	_battery[instance]->updateBatteryStatus(hrt_absolute_time());
 
 	/* Override data that is expected to arrive from UAVCAN msg*/
-	_battery_status[instance] = _battery.getBatteryStatus();
+	_battery_status[instance] = _battery[instance]->getBatteryStatus();
 	_battery_status[instance].temperature = msg.temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // Kelvin to Celcius
 	_battery_status[instance].serial_number = msg.model_instance_id;
 	_battery_status[instance].id = msg.getSrcNodeID().get(); // overwrite zeroed index from _battery

src/drivers/uavcan/sensors/battery.hpp

@@ -99,8 +99,18 @@ private:
 	BatteryDataType _batt_update_mod[battery_status_s::MAX_INSTANCES] {};
 
 	static constexpr int FILTER_DATA = 2;
-	static constexpr int BATTERY_INDEX = 1;
+	static constexpr int BATTERY_INDEX_1 = 1;
+	static constexpr int BATTERY_INDEX_2 = 2;
+	static constexpr int BATTERY_INDEX_3 = 3;
+	static constexpr int BATTERY_INDEX_4 = 4;
 	static constexpr int SAMPLE_INTERVAL_US = 20_ms; // assume higher frequency UAVCAN feedback than 50Hz
-	Battery _battery{BATTERY_INDEX, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_EXTERNAL};
 
+	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 *_battery[battery_status_s::MAX_INSTANCES] = { &battery1, &battery2, &battery3, &battery4 };
 };