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AP_MotorsMulticopter: update_battery_resistance uses get_throttle accessor

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Leonard Hall 2016-01-25 12:15:02 +09:00 committed by Randy Mackay
parent 8228d9e72c
commit bc42cb2a66
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -234,14 +234,14 @@ void AP_MotorsMulticopter::update_lift_max_from_batt_voltage()
void AP_MotorsMulticopter::update_battery_resistance() void AP_MotorsMulticopter::update_battery_resistance()
{ {
// if motors are stopped, reset resting voltage and current // if motors are stopped, reset resting voltage and current
if (_throttle_control_input <= 0 || !_flags.armed) { if (get_throttle() <= 0.0f || !_flags.armed) {
_batt_voltage_resting = _batt_voltage; _batt_voltage_resting = _batt_voltage;
_batt_current_resting = _batt_current; _batt_current_resting = _batt_current;
_batt_timer = 0; _batt_timer = 0;
} else { } else {
// update battery resistance when throttle is over hover throttle // update battery resistance when throttle is over hover throttle
if ((_batt_timer < 400) && ((_batt_current_resting*2.0f) < _batt_current)) { if ((_batt_timer < 400) && ((_batt_current_resting*2.0f) < _batt_current)) {
if (_throttle_control_input >= _hover_out) { if (get_throttle() >= _hover_out) {
// filter reaches 90% in 1/4 the test time // filter reaches 90% in 1/4 the test time
_batt_resistance += 0.05f*(( (_batt_voltage_resting-_batt_voltage)/(_batt_current-_batt_current_resting) ) - _batt_resistance); _batt_resistance += 0.05f*(( (_batt_voltage_resting-_batt_voltage)/(_batt_current-_batt_current_resting) ) - _batt_resistance);
_batt_timer += 1; _batt_timer += 1;