Add and use Battery backend internal-use-only flag

Tools/autotest/arducopter.py

@@ -11704,6 +11704,31 @@ def MissionRTLYawBehaviour(self):
         if abs(new_heading - original_heading) > 5:
             raise NotAchievedException(f"Should return to original heading want={original_heading} got={new_heading}")
 
+    def BatteryInternalUseOnly(self):
+        '''batteries marked as internal use only should not appear over mavlink'''
+        self.set_parameters({
+            "BATT_MONITOR": 4,  # 4 is analog volt+curr
+            "BATT2_MONITOR": 4,
+        })
+        self.reboot_sitl()
+        self.wait_message_field_values('BATTERY_STATUS', {
+            "id": 0,
+        })
+        self.wait_message_field_values('BATTERY_STATUS', {
+            "id": 1,
+        })
+        self.progress("Making battery private")
+        self.set_parameters({
+            "BATT_OPTIONS": 256,
+        })
+        self.wait_message_field_values('BATTERY_STATUS', {
+            "id": 1,
+        })
+        for i in range(10):
+            self.assert_received_message_field_values('BATTERY_STATUS', {
+                "id": 1
+            })
+
     def tests2b(self):  # this block currently around 9.5mins here
         '''return list of all tests'''
         ret = ([
@@ -11802,6 +11827,7 @@ def tests2b(self):  # this block currently around 9.5mins here
             self.REQUIRE_POSITION_FOR_ARMING,
             self.LoggingFormat,
             self.MissionRTLYawBehaviour,
+            self.BatteryInternalUseOnly,
         ])
         return ret
 

libraries/AP_BattMonitor/AP_BattMonitor.cpp

@@ -777,6 +777,14 @@ float AP_BattMonitor::gcs_voltage(uint8_t instance) const
     return state[instance].voltage;
 }
 
+bool AP_BattMonitor::option_is_set(uint8_t instance, AP_BattMonitor_Params::Options option) const
+{
+    if (instance >= _num_instances || drivers[instance] == nullptr) {
+        return false;
+    }
+    return drivers[instance]->option_is_set(option);
+}
+
 /// current_amps - returns the instantaneous current draw in amperes
 bool AP_BattMonitor::current_amps(float &current, uint8_t instance) const {
     if ((instance < _num_instances) && (drivers[instance] != nullptr) && drivers[instance]->has_current()) {

libraries/AP_BattMonitor/AP_BattMonitor.h

@@ -262,6 +262,8 @@ class AP_BattMonitor
     void MPPT_set_powered_state_to_all(const bool power_on);
     void MPPT_set_powered_state(const uint8_t instance, const bool power_on);
 
+    bool option_is_set(uint8_t instance, AP_BattMonitor_Params::Options option) const;
+
     // cycle count
     bool get_cycle_count(uint8_t instance, uint16_t &cycles) const;
 

libraries/AP_BattMonitor/AP_BattMonitor_Params.h

@@ -17,7 +17,7 @@ class AP_BattMonitor_Params {
         BattMonitor_LowVoltageSource_Raw            = 0,
         BattMonitor_LowVoltageSource_SagCompensated = 1
     };
-    enum class Options : uint8_t {
+    enum class Options : uint16_t {
         Ignore_UAVCAN_SoC                   = (1U<<0),  // Ignore UAVCAN State-of-Charge (charge %) supplied value from the device and use the internally calculated one
         MPPT_Use_Input_Value                = (1U<<1),  // MPPT reports voltage and current from Input (usually solar panel) instead of the output
         MPPT_Power_Off_At_Disarm            = (1U<<2),  // MPPT Disabled when vehicle is disarmed, if HW supports it
@@ -26,6 +26,7 @@ class AP_BattMonitor_Params {
         MPPT_Power_On_At_Boot               = (1U<<5),  // MPPT Enabled at startup (aka boot), if HW supports it. If Power_Off_at_Boot is also set, the behavior is Power_Off_at_Boot
         GCS_Resting_Voltage                 = (1U<<6),  // send resistance resting voltage to GCS
         AllowSplitAuxInfo                   = (1U<<7),  // allow different node to provide aux info for DroneCAN
+        InternalUseOnly                     = (1U<<8),  // for use internally to ArduPilot, not to be (eg.) sent via MAVLink BATTERY_STATUS
     };
 
     BattMonitor_LowVoltage_Source failsafe_voltage_source(void) const { return (enum BattMonitor_LowVoltage_Source)_failsafe_voltage_source.get(); }

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -379,7 +379,8 @@ bool GCS_MAVLINK::send_battery_status()
         const uint8_t battery_id = (last_battery_status_idx + 1) % AP_BATT_MONITOR_MAX_INSTANCES;
         const auto configured_type = battery.configured_type(battery_id);
         if (configured_type != AP_BattMonitor::Type::NONE &&
-            configured_type == battery.allocated_type(battery_id)) {
+            configured_type == battery.allocated_type(battery_id) &&
+            !battery.option_is_set(battery_id, AP_BattMonitor_Params::Options::InternalUseOnly)) {
             CHECK_PAYLOAD_SIZE(BATTERY_STATUS);
             send_battery_status(battery_id);
             last_battery_status_idx = battery_id;