Tracker: Show battery parameters, support battery logging

AntennaTracker/Parameters.cpp

@@ -270,8 +270,8 @@ const AP_Param::Info Tracker::var_info[] = {
     // @Param: LOG_BITMASK
     // @DisplayName: Log bitmask
     // @Description: 4 byte bitmap of log types to enable
-    // @Values: 63:Default,0:Disabled
-    // @Bitmask: 0:ATTITUDE,1:GPS,2:RCIN,3:IMU,4:RCOUT,5:COMPASS
+    // @Values: 127:Default,0:Disabled
+    // @Bitmask: 0:ATTITUDE,1:GPS,2:RCIN,3:IMU,4:RCOUT,5:COMPASS,6:Battery
     // @User: Standard
     GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
 
@@ -385,6 +385,9 @@ const AP_Param::Info Tracker::var_info[] = {
     // @User: Advanced
     GSCALAR(command_total,          "CMD_TOTAL",      0),
 
+    // @Group: BATT
+    // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
+    GOBJECT(battery,                "BATT", AP_BattMonitor),
 
     AP_VAREND
 };

AntennaTracker/Parameters.h

@@ -93,6 +93,7 @@ public:
         k_param_log_bitmask,        // 140
         k_param_notify,
         k_param_BoardConfig_CAN,
+        k_param_battery,
 
         //
         // 150: Telemetry control

AntennaTracker/Tracker.h

@@ -151,7 +151,7 @@ private:
 #endif
 
     // Battery Sensors
-    AP_BattMonitor battery;
+    AP_BattMonitor battery{MASK_LOG_CURRENT};
 
     struct Location current_loc;
 

AntennaTracker/config.h

@@ -76,5 +76,6 @@
     MASK_LOG_RCIN | \
     MASK_LOG_IMU | \
     MASK_LOG_RCOUT | \
-    MASK_LOG_COMPASS
+    MASK_LOG_COMPASS | \
+    MASK_LOG_CURRENT
 #endif

AntennaTracker/defines.h

@@ -40,6 +40,7 @@ enum AltSource {
 #define MASK_LOG_IMU                    (1<<3)
 #define MASK_LOG_RCOUT                  (1<<4)
 #define MASK_LOG_COMPASS                (1<<5)
+#define MASK_LOG_CURRENT                (1<<6)
 #define MASK_LOG_ANY                    0xFFFF
 
 //  Logging messages