Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-22 08:38:36 -04:00
Code Issues Packages Projects Releases Wiki Activity

HAL_SITL: use battery info from FDM if available

Browse Source
This commit is contained in:
Andrew Tridgell 2015-11-23 13:31:29 +11:00
parent 8b456be8c6
commit 7a5c4ec65d
1 changed files with 14 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

21
libraries/AP_HAL_SITL/SITL_State.cpp
View File

@ -146,8 +146,6 @@ void SITL_State::_setup_fdm(void)
void SITL_State::_fdm_input_step(void)
{
static uint32_t last_pwm_input = 0;
fd_set fds;
struct timeval tv;
_fdm_input_local();
@ -378,12 +376,21 @@ void SITL_State::_simulator_servos(Aircraft::sitl_input &input)
}
}
float throttle = _sitl->motors_on?(input.servos[2]-1000) / 1000.0f:0;
// lose 0.7V at full throttle
float voltage = _sitl->batt_voltage - 0.7f*throttle;
float voltage;
if (_sitl->state.battery_voltage <= 0) {
// simulate simple battery setup
float throttle = _sitl->motors_on?(input.servos[2]-1000) / 1000.0f:0;
// lose 0.7V at full throttle
voltage = _sitl->batt_voltage - 0.7f*throttle;
// assume 50A at full throttle
_current = 50.0f * throttle;
// assume 50A at full throttle
_current = 50.0f * throttle;
} else {
// FDM provides voltage and current
voltage = _sitl->state.battery_voltage;
_current = _sitl->state.battery_current;
}
// assume 3DR power brick
voltage_pin_value = ((voltage / 10.1f) / 5.0f) * 1024;