From 290e657f619cc29796cf1f9770cc544e1616fb60 Mon Sep 17 00:00:00 2001
From: Leonard Hall <leonardthall@gmail.com>
Date: Fri, 22 Jan 2016 10:26:21 +0900
Subject: [PATCH] AP_MotorsMulticopter: update_battery_resistance captures
 resting voltage while disarmed

Previously it could also capture this when the input throttle was zero
---
 libraries/AP_Motors/AP_MotorsMulticopter.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Motors/AP_MotorsMulticopter.cpp b/libraries/AP_Motors/AP_MotorsMulticopter.cpp
index 943a21672a..4571faed6e 100644
--- a/libraries/AP_Motors/AP_MotorsMulticopter.cpp
+++ b/libraries/AP_Motors/AP_MotorsMulticopter.cpp
@@ -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;