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Copter: Fixed bug in battery current integration

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Jonathan Challinger 2013-06-22 18:06:58 -07:00 committed by rmackay9
parent 0592475959
commit b21bc5a85a
1 changed files with 8 additions and 3 deletions
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11
ArduCopter/sensors.pde
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@ -117,12 +117,17 @@ static void read_battery(void)
battery_voltage1 = BATTERY_VOLTAGE(batt_volt_analog_source);
}
if(g.battery_monitoring == BATT_MONITOR_VOLTAGE_AND_CURRENT) {
batt_curr_analog_source->set_pin(g.battery_curr_pin);
static uint32_t last_time_ms;
uint32_t tnow = hal.scheduler->millis();
float dt_millis = tnow - last_time_ms;
current_amps1 = CURRENT_AMPS(batt_curr_analog_source);
current_total1 += current_amps1 * 0.02778f; // called at 100ms on average, .0002778 is 1/3600 (conversion to hours)
if (last_time_ms != 0 && dt_millis < 2000) {
batt_curr_analog_source->set_pin(g.battery_curr_pin);
current_total1 += current_amps1 * 1000 * dt_millis * (1.0f/1000) * (1.0f/3600); //amps * amps to milliamps * milliseconds * milliseconds to seconds * seconds to hours
}
// update compass with current value
compass.set_current(current_amps1);
last_time_ms = tnow;
}
// check for low voltage or current if the low voltage check hasn't already been triggered