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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-11-08 21:30:10 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-11-08 21:30:10 +0400 |
| commit | 6b085e8ced81d946307074f2ae44d6d62c63f170 (patch) | |
| tree | 83a2448ea72ecc1d9b20653b04841d42bac00f89 /src/modules/commander/commander.cpp | |
| parent | 1a318ee2a60d95f7d64fe7ed13db8e5377b8c98c (diff) | |
| download | px4-firmware-6b085e8ced81d946307074f2ae44d6d62c63f170.tar.gz px4-firmware-6b085e8ced81d946307074f2ae44d6d62c63f170.tar.bz2 px4-firmware-6b085e8ced81d946307074f2ae44d6d62c63f170.zip | |
Use discharged current to estimate remaining battery charge if capacity is known
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index ace13bb78..2499aff08 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -896,8 +896,9 @@ int commander_thread_main(int argc, char *argv[]) /* only consider battery voltage if system has been running 2s and battery voltage is higher than 4V */ if (hrt_absolute_time() > start_time + 2000000 && battery.voltage_v > 4.0f) { status.battery_voltage = battery.voltage_v; + status.battery_current = battery.current_a; status.condition_battery_voltage_valid = true; - status.battery_remaining = battery_remaining_estimate_voltage(status.battery_voltage); + status.battery_remaining = battery_remaining_estimate_voltage(battery.voltage_v, battery.discharged_mah); } } |