Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-23 09:08:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Motors: Check for battery voltage reading fail

Browse Source
This commit is contained in:
Leonard Hall 2015-03-09 16:53:33 +10:30 committed by Randy Mackay
parent 36c91970f1
commit 6275ee0289
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_Motors/AP_Motors_Class.cpp
View File

@ -276,15 +276,15 @@ int16_t AP_Motors::apply_thrust_curve_and_volt_scaling(int16_t pwm_out, int16_t
void AP_Motors::update_lift_max_from_batt_voltage()
{
// sanity check battery_voltage_min is not too small
_batt_voltage_min = max(_batt_voltage_min, _batt_voltage_max * 0.6f);
// if disabled or misconfigured exit immediately
if((_batt_voltage_max <= 0) || (_batt_voltage_min >= _batt_voltage_max)) {
if((_batt_voltage_max <= 0) || (_batt_voltage_min >= _batt_voltage_max) || (_batt_voltage < 0.25*_batt_voltage_min)) {
_batt_voltage_filt.reset(1.0f);
_lift_max = 1.0f;
return;
}
_batt_voltage_min = max(_batt_voltage_min, _batt_voltage_max * 0.6f);
// add current based voltage sag to battery voltage
float batt_voltage = _batt_voltage + _batt_current * _batt_resistance;
batt_voltage = constrain_float(batt_voltage, _batt_voltage_min, _batt_voltage_max);