From 678b12af25e46f7ed9104018a9ca0f3d2c577579 Mon Sep 17 00:00:00 2001
From: "Andreas M. Antonopoulos" <andreas@antonopoulos.com>
Date: Sun, 24 Jun 2012 17:01:25 -0700
Subject: [PATCH] AC2.6: Fix battery calculation and scaling bug for MAV1.0,
 now same as ArduPlane

http://code.google.com/p/arducopter/issues/detail?id=430
---
 ArduCopter/GCS_Mavlink.pde                 | 21 ++++++++++++++++++---
 Tools/ArdupilotMegaPlanner/CurrentState.cs |  2 +-
 2 files changed, 19 insertions(+), 4 deletions(-)

diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index b5df926334..b759be8bb9 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -152,16 +152,31 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
     // at the moment all sensors/controllers are assumed healthy
     control_sensors_health = control_sensors_present;
 
-    uint16_t battery_remaining = 1000.0 * (float)(g.pack_capacity - current_total1)/(float)g.pack_capacity;	//Mavlink scaling 100% = 1000
+    uint16_t battery_current = -1;
+    uint8_t  battery_remaining = -1;
+
+    if (current_total1 != 0 && g.pack_capacity != 0) {
+        battery_remaining = (100.0 * (g.pack_capacity - current_total1) / g.pack_capacity);
+    }
+    if (current_total1 != 0) {
+        battery_current = current_amps1 * 100;
+    }
+
+    if (g.battery_monitoring == 3) {
+        /*setting a out-of-range value.
+        It informs to external devices that
+        it cannot be calculated properly just by voltage*/
+        battery_remaining = 150;
+    }
 
     mavlink_msg_sys_status_send(
         chan,
         control_sensors_present,
         control_sensors_enabled,
         control_sensors_health,
-        0,
+        0, // CPU Load not supported in AC yet
         battery_voltage1 * 1000, // mV
-        0,
+        battery_current,        // in 10mA units
         battery_remaining,      // in %
         0, // comm drops %,
         0, // comm drops in pkts,
diff --git a/Tools/ArdupilotMegaPlanner/CurrentState.cs b/Tools/ArdupilotMegaPlanner/CurrentState.cs
index 317d2a7fd9..b246d26199 100644
--- a/Tools/ArdupilotMegaPlanner/CurrentState.cs
+++ b/Tools/ArdupilotMegaPlanner/CurrentState.cs
@@ -156,7 +156,7 @@ namespace ArdupilotMega
         //battery
         public float battery_voltage { get { return _battery_voltage; } set { _battery_voltage = value / 1000; } }
         private float _battery_voltage;
-        public float battery_remaining { get { return _battery_remaining; } set { _battery_remaining = value / 1000; if (_battery_remaining < 0 || _battery_remaining > 1) _battery_remaining = 0; } }
+        public float battery_remaining { get { return _battery_remaining; } set { _battery_remaining = value / 100; if (_battery_remaining < 0 || _battery_remaining > 1) _battery_remaining = 0; } }
         private float _battery_remaining;
 
         // pressure