ArduCopter: added BATT_VOLT_PIN and BATT_CURR_PIN parameters to allow support for new 3DR IV battery voltage and current monitor

ArduCopter/Parameters.h

@@ -114,9 +114,8 @@ public:
         k_param_ch7_option,
         k_param_auto_slew_rate,
         k_param_sonar_type,
-        k_param_super_simple,
-        k_param_battery_pin,
-        k_param_axis_enabled,
+        k_param_super_simple = 155,
+        k_param_axis_enabled = 157,
         k_param_copter_leds_mode,
         k_param_ahrs, // AHRS group
 
@@ -137,6 +136,12 @@ public:
         k_param_camera_mount,
         k_param_camera_mount2,
 
+        //
+        // Batery monitoring parameters
+        //
+        k_param_battery_volt_pin = 168,
+        k_param_battery_curr_pin,   // 169
+
         //
         // 170: Radio settings
         //
@@ -237,14 +242,14 @@ public:
     AP_Int8         optflow_enabled;
     AP_Float        low_voltage;
     AP_Int8         super_simple;
-    AP_Int8         battery_pin;
     AP_Int16        rtl_approach_alt;
     AP_Int8         tilt_comp;
     AP_Int8         axis_enabled;
     AP_Int8         copter_leds_mode;           // Operating mode of LED
                                                 // lighting system
 
-
+    AP_Int8         battery_volt_pin;
+    AP_Int8         battery_curr_pin;
 
     // Waypoints
     //

ArduCopter/Parameters.pde

@@ -98,13 +98,6 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @User: Standard
     GSCALAR(super_simple,   "SUPER_SIMPLE",     SUPER_SIMPLE),
 
-    // @Param: BATT_PIN
-    // @DisplayName: Battery Voltage sending pin
-    // @Description: Setting this to 0 ~ 11 will enable battery voltage sending on pins A0 ~ A11.  Current will be measured on this pin + 1
-    // @Values: 99:Disabled, 0:A0, 1:A1, 10:A10
-    // @User: Standard
-    GSCALAR(battery_pin,    "BATT_PIN",         BATTERY_PIN_1),
-
     // @Param: APPROACH_ALT
     // @DisplayName: RTL Approach Altitude
     // @Description: This is the altitude the vehicle will move to as the final stage of Returning to Launch.  Set to zero to land.
@@ -122,10 +115,19 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @User: Advanced
 	GSCALAR(tilt_comp,      "TILT",     TILT_COMPENSATION),
 	
-	
-	
-	
-    
+    // @Param: BATT_VOLT_PIN
+    // @DisplayName: Battery Voltage sending pin
+    // @Description: Setting this to 0 ~ 11 will enable battery voltage sending on pins A0 ~ A11.  Current will be measured on this pin + 1
+    // @Values: 99:Disabled, 0:A0, 1:A1, 10:A13
+    // @User: Standard
+    GSCALAR(battery_volt_pin,    "BATT_VOLT_PIN",    BATTERY_VOLT_PIN),
+
+    // @Param: BATT_CURR_PIN
+    // @DisplayName: Battery Voltage sending pin
+    // @Description: Setting this to 0 ~ 11 will enable battery voltage sending on pins A0 ~ A11.  Current will be measured on this pin + 1
+    // @Values: 99:Disabled, 0:A0, 1:A1, 10:A12
+    // @User: Standard
+    GSCALAR(battery_curr_pin,    "BATT_CURR_PIN",    BATTERY_CURR_PIN),
 
     GSCALAR(waypoint_mode,  "WP_MODE",          0),
     GSCALAR(command_total,  "WP_TOTAL",         0),

ArduCopter/config.h

@@ -140,7 +140,8 @@
  # define USB_MUX_PIN      -1
  # define CLI_SLIDER_ENABLED DISABLED
  # define OPTFLOW_CS_PIN   34
- # define BATTERY_PIN_1      0      // Battery voltage on A0, Current on A1
+ # define BATTERY_VOLT_PIN      0      // Battery voltage on A0
+ # define BATTERY_CURR_PIN      1      // Battery current on A1
 #elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
  # define A_LED_PIN        27
  # define B_LED_PIN        26
@@ -152,7 +153,8 @@
  # define CLI_SLIDER_ENABLED DISABLED
  # define USB_MUX_PIN      23
  # define OPTFLOW_CS_PIN   A3
- # define BATTERY_PIN_1      1      // Battery voltage on A1, Current on A2
+ # define BATTERY_VOLT_PIN      1      // Battery voltage on A1
+ # define BATTERY_CURR_PIN      2      // Battery current on A2
 #endif
 
 ////////////////////////////////////////////////////////////////////////////////

ArduCopter/sensors.pde

@@ -77,12 +77,12 @@ static void read_battery(void)
     }
 
     if(g.battery_monitoring == 3 || g.battery_monitoring == 4) {
-        static AP_AnalogSource_Arduino bat_pin(g.battery_pin);
-        battery_voltage1 = BATTERY_VOLTAGE(bat_pin.read_average());
+        static AP_AnalogSource_Arduino batt_volt_pin(g.battery_volt_pin);
+        battery_voltage1 = BATTERY_VOLTAGE(batt_volt_pin.read_average());
     }
     if(g.battery_monitoring == 4) {
-        static AP_AnalogSource_Arduino current_pin(g.battery_pin+1);    // current is always read from one pin higher than battery voltage
-        current_amps1    = CURRENT_AMPS(current_pin.read_average());
+        static AP_AnalogSource_Arduino batt_curr_pin(g.battery_curr_pin);    // current is always read from one pin higher than battery voltage
+        current_amps1    = CURRENT_AMPS(batt_curr_pin.read_average());
         current_total1   += current_amps1 * 0.02778;            // called at 100ms on average, .0002778 is 1/3600 (conversion to hours)
     }