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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
This commit is contained in:
Andreas M. Antonopoulos 2012-06-24 17:01:25 -07:00
parent 7eae382a22
commit 678b12af25
2 changed files with 19 additions and 4 deletions
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21
ArduCopter/GCS_Mavlink.pde
View File

@ -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 // at the moment all sensors/controllers are assumed healthy
control_sensors_health = control_sensors_present; 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( mavlink_msg_sys_status_send(
chan, chan,
control_sensors_present, control_sensors_present,
control_sensors_enabled, control_sensors_enabled,
control_sensors_health, control_sensors_health,
0, 0, // CPU Load not supported in AC yet
battery_voltage1 * 1000, // mV battery_voltage1 * 1000, // mV
0, battery_current, // in 10mA units
battery_remaining, // in % battery_remaining, // in %
0, // comm drops %, 0, // comm drops %,
0, // comm drops in pkts, 0, // comm drops in pkts,

2
Tools/ArdupilotMegaPlanner/CurrentState.cs
View File

@ -156,7 +156,7 @@ namespace ArdupilotMega
//battery //battery
public float battery_voltage { get { return _battery_voltage; } set { _battery_voltage = value / 1000; } } public float battery_voltage { get { return _battery_voltage; } set { _battery_voltage = value / 1000; } }
private float _battery_voltage; 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; private float _battery_remaining;
// pressure // pressure