publish battery_status directly

This is temporary until there is a solution that works for adc and posix power modules

src/platforms/posix/drivers/df_ltc2946_wrapper/df_ltc2946_wrapper.cpp

@@ -42,9 +42,15 @@
 #include <string>
 #include <px4_config.h>
 #include <systemlib/err.h>
+#include <systemlib/battery.h>
+#include <drivers/drv_hrt.h>
 
 #include <ltc2946/LTC2946.hpp>
 
+#include <uORB/uORB.h>
+#include <uORB/topics/battery_status.h>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/vehicle_control_mode.h>
 
 
 extern "C" { __EXPORT int df_ltc2946_wrapper_main(int argc, char *argv[]); }
@@ -64,15 +70,29 @@ public:
 private:
 	int _publish(const struct ltc2946_sensor_data &data);
 
+	orb_advert_t	_battery_pub{nullptr};
+	battery_status_s _battery_status{};
+	Battery _battery{};
+
+	int _actuator_ctrl_0_sub{-1};
+	int _vcontrol_mode_sub{-1};
+
 };
 
 DfLtc2946Wrapper::DfLtc2946Wrapper() :
 	LTC2946(LTC2946_DEVICE_PATH)
 {
+	_battery.reset(&_battery_status);
+
+	// subscriptions
+	_actuator_ctrl_0_sub = orb_subscribe(ORB_ID(actuator_controls_0));
+	_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
 }
 
 DfLtc2946Wrapper::~DfLtc2946Wrapper()
 {
+	orb_unsubscribe(_actuator_ctrl_0_sub);
+	orb_unsubscribe(_vcontrol_mode_sub);
 }
 
 int DfLtc2946Wrapper::start()
@@ -113,7 +133,22 @@ int DfLtc2946Wrapper::stop()
 
 int DfLtc2946Wrapper::_publish(const struct ltc2946_sensor_data &data)
 {
-	// TODO
+	hrt_abstime t = hrt_absolute_time();
+	bool connected = data.battery_voltage_V > BOARD_ADC_OPEN_CIRCUIT_V;
+
+	actuator_controls_s ctrl;
+	orb_copy(ORB_ID(actuator_controls_0), _actuator_ctrl_0_sub, &ctrl);
+	vehicle_control_mode_s vcontrol_mode;
+	orb_copy(ORB_ID(vehicle_control_mode), _vcontrol_mode_sub, &vcontrol_mode);
+
+	_battery.updateBatteryStatus(t, data.battery_voltage_V, data.battery_current_A,
+				     connected, true, 1,
+				     ctrl.control[actuator_controls_s::INDEX_THROTTLE],
+				     vcontrol_mode.flag_armed,  &_battery_status);
+
+	int instance;
+	orb_publish_auto(ORB_ID(battery_status), &_battery_pub, &_battery_status, &instance, ORB_PRIO_DEFAULT);
+
 	return 0;
 }