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AP_Motors: Refactor battery current interface

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This commit is contained in:
Michael du Breuil 2019-07-07 14:38:45 +00:00 committed by WickedShell
parent ee3511c1fa
commit e3f1ef0c5e
2 changed files with 5 additions and 6 deletions
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5
libraries/AP_Motors/AP_Motors6DOF.cpp
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@ -348,12 +348,11 @@ void AP_Motors6DOF::output_armed_stabilizing()
const AP_BattMonitor &battery = AP::battery();
// Current limiting
if (_batt_current_max <= 0.0f || !battery.has_current()) {
float _batt_current;
if (_batt_current_max <= 0.0f || !battery.current_amps(_batt_current)) {
return;
}
float _batt_current = battery.current_amps();
float _batt_current_delta = _batt_current - _batt_current_last;
float loop_interval = 1.0f/_loop_rate;

6
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -287,9 +287,11 @@ float AP_MotorsMulticopter::get_current_limit_max_throttle()
{
AP_BattMonitor &battery = AP::battery();
float _batt_current;
if (_batt_current_max <= 0 || // return maximum if current limiting is disabled
!_flags.armed || // remove throttle limit if disarmed
!battery.has_current(_batt_idx)) { // no current monitoring is available
!battery.current_amps(_batt_current, _batt_idx)) { // no current monitoring is available
_throttle_limit = 1.0f;
return 1.0f;
}
@ -301,8 +303,6 @@ float AP_MotorsMulticopter::get_current_limit_max_throttle()
return 1.0f;
}
float _batt_current = battery.current_amps(_batt_idx);
// calculate the maximum current to prevent voltage sag below _batt_voltage_min
float batt_current_max = MIN(_batt_current_max, _batt_current + (battery.voltage(_batt_idx) - _batt_voltage_min) / _batt_resistance);