diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-20 16:28:44 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-20 16:28:44 +0200 |
| commit | 264fe884a2825ae430a19ba61e8c89d6a214f5cd (patch) | |
| tree | 4cca614a7001dabdac919f83f1a62878af477dc8 /src/modules/commander | |
| parent | 3935540c7df0f67946b637af6dc2d3145453c326 (diff) | |
| download | px4-firmware-264fe884a2825ae430a19ba61e8c89d6a214f5cd.tar.gz px4-firmware-264fe884a2825ae430a19ba61e8c89d6a214f5cd.tar.bz2 px4-firmware-264fe884a2825ae430a19ba61e8c89d6a214f5cd.zip | |
Fixed load voltage calculation
Diffstat (limited to 'src/modules/commander')
| -rw-r--r-- | src/modules/commander/commander_helper.cpp | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp index 239b77df0..d87af2d7d 100644 --- a/src/modules/commander/commander_helper.cpp +++ b/src/modules/commander/commander_helper.cpp @@ -317,7 +317,8 @@ float battery_remaining_estimate_voltage(float voltage, float discharged, float counter++; /* remaining charge estimate based on voltage and internal resistance (drop under load) */ - float remaining_voltage = (voltage - bat_n_cells * (bat_v_empty - (bat_v_load_drop * throttle_normalized)) / (bat_n_cells * (bat_v_full - bat_v_empty)); + float bat_v_full_dynamic = bat_v_full - (bat_v_load_drop * throttle_normalized); + float remaining_voltage = (voltage - (bat_n_cells * bat_v_empty)) / (bat_n_cells * (bat_v_full_dynamic - bat_v_empty)); if (bat_capacity > 0.0f) { /* if battery capacity is known, use discharged current for estimate, but don't show more than voltage estimate */ |