Copter: Move logging battery logging code to AP_BattMonitor

ArduCopter/Copter.h

@@ -388,7 +388,7 @@ private:
     int32_t initial_armed_bearing;
 
     // Battery Sensors
-    AP_BattMonitor battery;
+    AP_BattMonitor battery{MASK_LOG_CURRENT};
 
 #if FRSKY_TELEM_ENABLED == ENABLED
     // FrSky telemetry support
@@ -756,7 +756,6 @@ private:
     void update_notify();
 
     // Log.cpp
-    void Log_Write_Current();
     void Log_Write_Optflow();
     void Log_Write_Nav_Tuning();
     void Log_Write_Control_Tuning();

ArduCopter/Log.cpp

@@ -59,15 +59,6 @@ void Copter::ModeAutoTune::Log_Write_AutoTuneDetails(float angle_cd, float rate_
 }
 #endif
 
-// Write a Current data packet
-void Copter::Log_Write_Current()
-{
-    DataFlash.Log_Write_Current(battery);
-
-    // also write power status
-    DataFlash.Log_Write_Power();
-}
-
 struct PACKED log_Optflow {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -700,7 +691,6 @@ void Copter::Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float meas_targ
                                 float meas_min, float meas_max, float new_gain_rp, \
                                 float new_gain_rd, float new_gain_sp, float new_ddt) {}
 void Copter::Log_Write_AutoTuneDetails(float angle_cd, float rate_cds) {}
-void Copter::Log_Write_Current() {}
 void Copter::Log_Write_Nav_Tuning() {}
 void Copter::Log_Write_Control_Tuning() {}
 void Copter::Log_Write_Performance() {}

ArduCopter/sensors.cpp

@@ -185,17 +185,14 @@ void Copter::read_battery(void)
 {
     battery.read();
 
-    // update compass with current value
-    if (battery.has_current()) {
-        compass.set_current(battery.current_amps());
-    }
-
     // update motors with voltage and current
     if (battery.get_type() != AP_BattMonitor_Params::BattMonitor_TYPE_NONE) {
         motors->set_voltage(battery.voltage());
-        AP_Notify::flags.battery_voltage = battery.voltage();
     }
+
     if (battery.has_current()) {
+        compass.set_current(battery.current_amps());
+
         motors->set_current(battery.current_amps());
         motors->set_resistance(battery.get_resistance());
         motors->set_voltage_resting_estimate(battery.voltage_resting_estimate());
@@ -206,11 +203,6 @@ void Copter::read_battery(void)
     if (!ap.usb_connected && !failsafe.battery && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) {
         failsafe_battery_event();
     }
-
-    // log battery info to the dataflash
-    if (should_log(MASK_LOG_CURRENT)) {
-        Log_Write_Current();
-    }
 }
 
 // read the receiver RSSI as an 8 bit number for MAVLink