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AP_MotorsMulticopter: update_battery_resistance captures resting voltage while disarmed

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Previously it could also capture this when the input throttle was zero
This commit is contained in:
Leonard Hall 2016-01-22 10:26:21 +09:00 committed by Randy Mackay
parent bc42cb2a66
commit 290e657f61
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -233,8 +233,8 @@ void AP_MotorsMulticopter::update_lift_max_from_batt_voltage()
// update_battery_resistance - calculate battery resistance when throttle is above hover_out
void AP_MotorsMulticopter::update_battery_resistance()
{
// if motors are stopped, reset resting voltage and current
if (get_throttle() <= 0.0f || !_flags.armed) {
// if disarmed reset resting voltage and current
if (!_flags.armed) {
_batt_voltage_resting = _batt_voltage;
_batt_current_resting = _batt_current;
_batt_timer = 0;