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AP_MotorsMulticopter: fix battery resistance calculation

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Leonard Hall 2016-12-14 11:07:11 +09:00 committed by Randy Mackay
parent 9b66f21809
commit e1d5b23144
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -294,7 +294,7 @@ void AP_MotorsMulticopter::update_battery_resistance()
_batt_voltage_resting = _batt_voltage;
_batt_current_resting = _batt_current;
_batt_timer = 0;
} else if(_batt_voltage_resting < _batt_voltage && _batt_current_resting > _batt_current) {
} else if (_batt_voltage_resting > _batt_voltage && _batt_current_resting < _batt_current) {
// update battery resistance when throttle is over hover throttle
float batt_resistance = (_batt_voltage_resting-_batt_voltage)/(_batt_current-_batt_current_resting);
if ((_batt_timer < 400) && ((_batt_current_resting*2.0f) < _batt_current)) {