AP_Motors: add and use AP_BATTERY_ENABLED

libraries/AP_Motors/AP_Motors6DOF.cpp

@@ -359,6 +359,7 @@ void AP_Motors6DOF::output_armed_stabilizing()
         }
     }
 
+#if AP_BATTERY_ENABLED
     const AP_BattMonitor &battery = AP::battery();
 
 	// Current limiting
@@ -384,6 +385,7 @@ void AP_Motors6DOF::output_armed_stabilizing()
         batt_current_ratio = predicted_current_ratio;
     }
     _output_limited += (_dt / (_dt + _batt_current_time_constant)) * (1 - batt_current_ratio);
+#endif
 
     _output_limited = constrain_float(_output_limited, 0.0f, 1.0f);
 

libraries/AP_Motors/AP_MotorsMulticopter.cpp

@@ -345,6 +345,7 @@ void AP_MotorsMulticopter::update_throttle_filter()
 // return current_limit as a number from 0 ~ 1 in the range throttle_min to throttle_max
 float AP_MotorsMulticopter::get_current_limit_max_throttle()
 {
+#if AP_BATTERY_ENABLED
     AP_BattMonitor &battery = AP::battery();
 
     const uint8_t batt_idx = thr_lin.get_battery_index();
@@ -376,6 +377,9 @@ float AP_MotorsMulticopter::get_current_limit_max_throttle()
 
     // limit max throttle
     return get_throttle_hover() + ((1.0 - get_throttle_hover()) * _throttle_limit);
+#else
+    return 1.0;
+#endif
 }
 
 #if HAL_LOGGING_ENABLED

libraries/AP_Motors/AP_Motors_Thrust_Linearization.cpp

@@ -151,6 +151,7 @@ float Thrust_Linearization::remove_thrust_curve_and_volt_scaling(float throttle)
 // update_lift_max from battery voltage - used for voltage compensation
 void Thrust_Linearization::update_lift_max_from_batt_voltage()
 {
+#if AP_BATTERY_ENABLED
     // sanity check battery_voltage_min is not too small
     // if disabled or misconfigured exit immediately
     float _batt_voltage = motors.has_option(AP_Motors::MotorOptions::BATT_RAW_VOLTAGE) ? AP::battery().voltage(batt_idx) : AP::battery().voltage_resting_estimate(batt_idx);
@@ -177,6 +178,7 @@ void Thrust_Linearization::update_lift_max_from_batt_voltage()
     // calculate lift max
     float thrust_curve_expo = constrain_float(curve_expo, -1.0, 1.0);
     lift_max = batt_voltage_filt.get() * (1 - thrust_curve_expo) + thrust_curve_expo * batt_voltage_filt.get() * batt_voltage_filt.get();
+#endif
 }
 
 // return gain scheduling gain based on voltage and air density