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Copter: use battery.has_current method

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This commit is contained in:
Randy Mackay 2014-12-03 14:32:44 +09:00
parent cf36fd55bd
commit 3ccc61c163
3 changed files with 3 additions and 3 deletions
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2
ArduCopter/GCS_Mavlink.pde
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@ -226,7 +226,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
int16_t battery_current = -1; int16_t battery_current = -1;
int8_t battery_remaining = -1; int8_t battery_remaining = -1;
if (battery.monitoring() == AP_BATT_MONITOR_VOLTAGE_AND_CURRENT) { if (battery.has_current()) {
battery_remaining = battery.capacity_remaining_pct(); battery_remaining = battery.capacity_remaining_pct();
battery_current = battery.current_amps() * 100; battery_current = battery.current_amps() * 100;
} }

2
ArduCopter/compassmot.pde
View File

@ -76,7 +76,7 @@ static uint8_t mavlink_compassmot(mavlink_channel_t chan)
init_compass(); init_compass();
// default compensation type to use current if possible // default compensation type to use current if possible
if (battery.monitoring() == AP_BATT_MONITOR_VOLTAGE_AND_CURRENT) { if (battery.has_current()) {
comp_type = AP_COMPASS_MOT_COMP_CURRENT; comp_type = AP_COMPASS_MOT_COMP_CURRENT;
}else{ }else{
comp_type = AP_COMPASS_MOT_COMP_THROTTLE; comp_type = AP_COMPASS_MOT_COMP_THROTTLE;

2
ArduCopter/sensors.pde
View File

@ -146,7 +146,7 @@ static void read_battery(void)
battery.read(); battery.read();
// update compass with current value // update compass with current value
if (battery.monitoring() == AP_BATT_MONITOR_VOLTAGE_AND_CURRENT) { if (battery.has_current()) {
compass.set_current(battery.current_amps()); compass.set_current(battery.current_amps());
} }