From 9388ea3848bf5a654baefb3da13d884ae34231db Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 30 Sep 2013 23:15:35 +0900
Subject: [PATCH] Plane: integrate BattMonitor exhausted method

BatteryMonitor object made static
Removed unused macros for battery voltage and current monitoring
---
 ArduPlane/ArduPlane.pde |  2 +-
 ArduPlane/defines.h     |  4 ----
 ArduPlane/sensors.pde   | 11 +----------
 3 files changed, 2 insertions(+), 15 deletions(-)

diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index 93d29ba423..6abcf3a76e 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -466,7 +466,7 @@ static int32_t altitude_error_cm;
 ////////////////////////////////////////////////////////////////////////////////
 // Battery Sensors
 ////////////////////////////////////////////////////////////////////////////////
-AP_BattMonitor battery;
+static AP_BattMonitor battery;
 
 ////////////////////////////////////////////////////////////////////////////////
 // Airspeed Sensors
diff --git a/ArduPlane/defines.h b/ArduPlane/defines.h
index 5eedfb5578..a7797f9c36 100644
--- a/ArduPlane/defines.h
+++ b/ArduPlane/defines.h
@@ -199,10 +199,6 @@ enum log_messages {
 #define ALTITUDE_HISTORY_LENGTH 8       //Number of (time,altitude) points to
                                         // regress a climb rate from
 
-
-#define BATTERY_VOLTAGE(x) (x->voltage_average()*g.volt_div_ratio)
-#define CURRENT_AMPS(x) (x->voltage_average()-g.curr_amp_offset)*g.curr_amp_per_volt
-
 #define AN4                     4
 #define AN5                     5
 
diff --git a/ArduPlane/sensors.pde b/ArduPlane/sensors.pde
index 8b43da858d..9e43d5f63e 100644
--- a/ArduPlane/sensors.pde
+++ b/ArduPlane/sensors.pde
@@ -50,16 +50,7 @@ static void read_battery(void)
 
     battery.read();
 
-    if (!usb_connected &&
-        battery.voltage() != 0 && 
-        g.fs_batt_voltage > 0 && 
-        battery.voltage() < g.fs_batt_voltage) {
-        low_battery_event();
-    }
-    if (!usb_connected &&
-        battery.monitoring() == AP_BATT_MONITOR_VOLTAGE_AND_CURRENT &&
-        g.fs_batt_mah > 0 && 
-        battery.pack_capacity() - battery.current_total_mah() < g.fs_batt_mah) {
+    if (!usb_connected && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) {
         low_battery_event();
     }
 }