GCS_MAVLink: create and use AP_BATTERY_ENABLED

simply as a way to get HAL_PERIPH_ENABLE_BATTERY out of the main code

libraries/GCS_MAVLink/GCS.cpp

@@ -195,7 +195,7 @@ void GCS::update_sensor_status_flags()
     }
 #endif
 
-#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
+#if AP_BATTERY_ENABLED
     const AP_BattMonitor &battery = AP::battery();
     control_sensors_present |= MAV_SYS_STATUS_SENSOR_BATTERY;
     if (battery.num_instances() > 0) {

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -82,7 +82,8 @@
   #include <AP_DroneCAN/AP_DroneCAN.h>
 #endif
 
-#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
+#include <AP_BattMonitor/AP_BattMonitor_config.h>
+#if AP_BATTERY_ENABLED
 #include <AP_BattMonitor/AP_BattMonitor.h>
 #endif
 #include <AP_GPS/AP_GPS.h>
@@ -221,7 +222,7 @@ void GCS_MAVLINK::send_mcu_status(void)
 
 // returns the battery remaining percentage if valid, -1 otherwise
 int8_t GCS_MAVLINK::battery_remaining_pct(const uint8_t instance) const {
-#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
+#if AP_BATTERY_ENABLED
     uint8_t percentage;
     return AP::battery().capacity_remaining_pct(percentage, instance) ? MIN(percentage, INT8_MAX) : -1;
 #else
@@ -231,7 +232,7 @@ int8_t GCS_MAVLINK::battery_remaining_pct(const uint8_t instance) const {
 
 void GCS_MAVLINK::send_battery_status(const uint8_t instance) const
 {
-#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
+#if AP_BATTERY_ENABLED
     // catch the battery backend not supporting the required number of cells
     static_assert(sizeof(AP_BattMonitor::cells) >= (sizeof(uint16_t) * MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN),
                   "Not enough battery cells for the MAVLink message");
@@ -357,7 +358,7 @@ void GCS_MAVLINK::send_battery_status(const uint8_t instance) const
 // returns true if all battery instances were reported
 bool GCS_MAVLINK::send_battery_status()
 {
-#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
+#if AP_BATTERY_ENABLED
     const AP_BattMonitor &battery = AP::battery();
 
     for(uint8_t i = 0; i < AP_BATT_MONITOR_MAX_INSTANCES; i++) {
@@ -2493,7 +2494,7 @@ void GCS::setup_uarts()
 // report battery2 state
 void GCS_MAVLINK::send_battery2()
 {
-#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
+#if AP_BATTERY_ENABLED
     const AP_BattMonitor &battery = AP::battery();
 
     if (battery.num_instances() > 1) {
@@ -4385,7 +4386,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_set_mission_current(const mavlink_comm
 
 MAV_RESULT GCS_MAVLINK::handle_command_battery_reset(const mavlink_command_long_t &packet)
 {
-#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
+#if AP_BATTERY_ENABLED
     const uint16_t battery_mask = packet.param1;
     const float percentage = packet.param2;
     if (AP::battery().reset_remaining_mask(battery_mask, percentage)) {
@@ -5273,7 +5274,7 @@ void GCS_MAVLINK::send_sys_status()
     if (!gcs().vehicle_initialised()) {
         return;
     }
-#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
+#if AP_BATTERY_ENABLED
     const AP_BattMonitor &battery = AP::battery();
     float battery_current;
     const int8_t battery_remaining = battery_remaining_pct(AP_BATT_PRIMARY_INSTANCE);
@@ -5302,7 +5303,7 @@ void GCS_MAVLINK::send_sys_status()
         control_sensors_enabled,
         control_sensors_health,
         static_cast<uint16_t>(AP::scheduler().load_average() * 1000),
-#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
+#if AP_BATTERY_ENABLED
         battery.gcs_voltage() * 1000,  // mV
         battery_current,        // in 10mA units
         battery_remaining,      // in %
@@ -6567,7 +6568,7 @@ void GCS_MAVLINK::send_high_latency2() const
     AP_AHRS &ahrs = AP::ahrs();
     Location global_position_current;
     UNUSED_RESULT(ahrs.get_location(global_position_current));
-#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
+#if AP_BATTERY_ENABLED
     const int8_t battery_remaining = battery_remaining_pct(AP_BATT_PRIMARY_INSTANCE);
 #endif
 
@@ -6630,7 +6631,7 @@ void GCS_MAVLINK::send_high_latency2() const
         0, // [dm] Maximum error vertical position since last message
         high_latency_air_temperature(), // [degC] Air temperature from airspeed sensor
         0, // [dm/s] Maximum climb rate magnitude since last message
-#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
+#if AP_BATTERY_ENABLED
         battery_remaining, // [%] Battery level (-1 if field not provided).
 #else
         -1,