From 9d321c5c31f6ba586dfc767e4d19f6846294bba8 Mon Sep 17 00:00:00 2001 From: murata Date: Sat, 12 Mar 2022 02:31:56 +0900 Subject: [PATCH] AP_BattMonitor: Change from division to multiplication --- libraries/AP_BattMonitor/AP_BattMonitor_Backend.cpp | 2 +- libraries/AP_BattMonitor/AP_BattMonitor_Bebop.cpp | 4 ++-- libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Generic.cpp | 4 ++-- libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Solo.cpp | 2 +- 4 files changed, 6 insertions(+), 6 deletions(-) diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Backend.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_Backend.cpp index edce254eb1..c203cc8898 100644 --- a/libraries/AP_BattMonitor/AP_BattMonitor_Backend.cpp +++ b/libraries/AP_BattMonitor/AP_BattMonitor_Backend.cpp @@ -75,7 +75,7 @@ void AP_BattMonitor_Backend::update_resistance_estimate() // calculate time since last update uint32_t now = AP_HAL::millis(); - float loop_interval = (now - _resistance_timer_ms) / 1000.0f; + float loop_interval = (now - _resistance_timer_ms) * 0.001f; _resistance_timer_ms = now; // estimate short-term resistance diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Bebop.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_Bebop.cpp index c43e41671e..eb12e42712 100644 --- a/libraries/AP_BattMonitor/AP_BattMonitor_Bebop.cpp +++ b/libraries/AP_BattMonitor/AP_BattMonitor_Bebop.cpp @@ -177,7 +177,7 @@ void AP_BattMonitor_Bebop::read(void) } /* get battery voltage observed by cypress */ - vbat_raw = (float)data.batt_mv / 1000.0f; + vbat_raw = (float)data.batt_mv * 0.001f; /* do not compute battery status on ramping or braking transition */ if (data.status == BEBOP_BLDC_STATUS_RAMPING || @@ -214,7 +214,7 @@ void AP_BattMonitor_Bebop::read(void) _state.voltage = vbat; _state.last_time_micros = tnow; _state.healthy = true; - _state.consumed_mah = capacity - (remaining * capacity) / 100.0f; + _state.consumed_mah = capacity - (remaining * capacity) * 0.01f; } #endif diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Generic.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Generic.cpp index 0e59af57d0..ac23bc44c8 100644 --- a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Generic.cpp +++ b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Generic.cpp @@ -60,7 +60,7 @@ void AP_BattMonitor_SMBus_Generic::timer() // read voltage (V) if (read_word(BATTMONITOR_SMBUS_VOLTAGE, data)) { - _state.voltage = (float)data / 1000.0f; + _state.voltage = (float)data * 0.001f; _state.last_time_micros = tnow; _state.healthy = true; } @@ -113,7 +113,7 @@ void AP_BattMonitor_SMBus_Generic::timer() // read current (A) if (read_word(BATTMONITOR_SMBUS_CURRENT, data)) { - _state.current_amps = -(float)((int16_t)data) / 1000.0f; + _state.current_amps = -(float)((int16_t)data) * 0.001f; _state.last_time_micros = tnow; } diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Solo.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Solo.cpp index 4520d1430e..0528d70ca6 100644 --- a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Solo.cpp +++ b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Solo.cpp @@ -66,7 +66,7 @@ void AP_BattMonitor_SMBus_Solo::timer() // read current if (read_block(BATTMONITOR_SMBUS_SOLO_CURRENT, buff, 4) == 4) { - _state.current_amps = -(float)((int32_t)((uint32_t)buff[3]<<24 | (uint32_t)buff[2]<<16 | (uint32_t)buff[1]<<8 | (uint32_t)buff[0])) / 1000.0f; + _state.current_amps = -(float)((int32_t)((uint32_t)buff[3]<<24 | (uint32_t)buff[2]<<16 | (uint32_t)buff[1]<<8 | (uint32_t)buff[0])) * 0.001f; _state.last_time_micros = tnow; }