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GCS_Common: fix send_sys_status() which was killing current value if ANY battery was unhealthy

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Tom Pittenger 2024-12-06 13:22:30 -08:00
parent ad539ffa03
commit 900feadb8e
1 changed files with 2 additions and 2 deletions
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4
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -5766,7 +5766,7 @@ void GCS_MAVLINK::send_sys_status()
float battery_current; float battery_current;
const int8_t battery_remaining = battery_remaining_pct(AP_BATT_PRIMARY_INSTANCE); const int8_t battery_remaining = battery_remaining_pct(AP_BATT_PRIMARY_INSTANCE);
if (battery.healthy() && battery.current_amps(battery_current)) { if (battery.healthy(AP_BATT_PRIMARY_INSTANCE) && battery.current_amps(battery_current, AP_BATT_PRIMARY_INSTANCE)) {
battery_current = constrain_float(battery_current * 100,-INT16_MAX,INT16_MAX); battery_current = constrain_float(battery_current * 100,-INT16_MAX,INT16_MAX);
} else { } else {
battery_current = -1; battery_current = -1;
@ -5795,7 +5795,7 @@ void GCS_MAVLINK::send_sys_status()
0, 0,
#endif #endif
#if AP_BATTERY_ENABLED #if AP_BATTERY_ENABLED
battery.gcs_voltage() * 1000, // mV battery.gcs_voltage(AP_BATT_PRIMARY_INSTANCE) * 1000, // mV
battery_current, // in 10mA units battery_current, // in 10mA units
battery_remaining, // in % battery_remaining, // in %
#else #else