AP_Motors: Refactor battery current interface

libraries/AP_Motors/AP_Motors6DOF.cpp

@@ -348,12 +348,11 @@ void AP_Motors6DOF::output_armed_stabilizing()
     const AP_BattMonitor &battery = AP::battery();
 
 	// Current limiting
-    if (_batt_current_max <= 0.0f || !battery.has_current()) {
+    float _batt_current;
+    if (_batt_current_max <= 0.0f || !battery.current_amps(_batt_current)) {
         return;
     }
 
-    float _batt_current = battery.current_amps();
-
     float _batt_current_delta = _batt_current - _batt_current_last;
 
     float loop_interval = 1.0f/_loop_rate;

libraries/AP_Motors/AP_MotorsMulticopter.cpp

@@ -287,9 +287,11 @@ float AP_MotorsMulticopter::get_current_limit_max_throttle()
 {
     AP_BattMonitor &battery = AP::battery();
 
+    float _batt_current;
+
     if (_batt_current_max <= 0 || // return maximum if current limiting is disabled
         !_flags.armed || // remove throttle limit if disarmed
-        !battery.has_current(_batt_idx)) { // no current monitoring is available
+        !battery.current_amps(_batt_current, _batt_idx)) { // no current monitoring is available
         _throttle_limit = 1.0f;
         return 1.0f;
     }
@@ -301,8 +303,6 @@ float AP_MotorsMulticopter::get_current_limit_max_throttle()
         return 1.0f;
     }
 
-    float _batt_current = battery.current_amps(_batt_idx);
-
     // calculate the maximum current to prevent voltage sag below _batt_voltage_min
     float batt_current_max = MIN(_batt_current_max, _batt_current + (battery.voltage(_batt_idx) - _batt_voltage_min) / _batt_resistance);