battery: allow battery internal resistance and capacity to change dynamically

- this is required to support use cases where N numbers of batteries are connected
in parallel and detected by the system and N is not known beforehand

Signed-off-by: RomanBapst <bapstroman@gmail.com>

src/lib/battery/battery.cpp

@@ -113,6 +113,14 @@ void Battery::updateCurrent(const float current_a)
 
 void Battery::updateBatteryStatus(const hrt_abstime &timestamp)
 {
+	if (_parameter_update_sub.updated()) {
+		// Read from topic to clear updated flag
+		parameter_update_s parameter_update;
+		_parameter_update_sub.copy(&parameter_update);
+
+		updateParams();
+	}
+
 	if (!_battery_initialized) {
 		_voltage_filter_v.reset(_voltage_v);
 		_current_filter_a.reset(_current_a);

src/lib/battery/battery.h

@@ -58,6 +58,10 @@
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/vehicle_thrust_setpoint.h>
+#include <uORB/SubscriptionInterval.hpp>
+#include <uORB/topics/parameter_update.h>
+
+using namespace time_literals;
 
 /**
  * BatteryBase is a base class for any type of battery.
@@ -156,6 +160,7 @@ private:
 	uORB::Subscription _vehicle_thrust_setpoint_0_sub{ORB_ID(vehicle_thrust_setpoint)};
 	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
 	uORB::PublicationMulti<battery_status_s> _battery_status_pub{ORB_ID(battery_status)};
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
 	bool _external_state_of_charge{false}; ///< inticates that the soc is injected and not updated by this library
 

src/lib/battery/module.yaml

@@ -73,7 +73,7 @@ parameters:
             max: 0.2
             decimal: 4
             increment: 0.0005
-            reboot_required: true
+            reboot_required: false
             num_instances: *max_num_config_instances
             instance_start: 1
             default: [0.005, 0.005]
@@ -119,7 +119,7 @@ parameters:
             max: 100000
             decimal: 0
             increment: 50
-            reboot_required: true
+            reboot_required: false
             num_instances: *max_num_config_instances
             instance_start: 1
             default: [-1.0, -1.0]