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AP_MotorsMulticopter: current limit keeps battery from sagging below BAT_VOLT_MIN

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Leonard Hall 2016-06-08 21:00:49 +09:00 committed by Randy Mackay
parent be25ac4acf
commit bee6c29b89
1 changed files with 4 additions and 1 deletions
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5
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -229,7 +229,10 @@ float AP_MotorsMulticopter::get_current_limit_max_throttle()
return 1.0f;
}
float batt_current_ratio = _batt_current/_batt_current_max;
// calculate the maximum current to prevent voltage sag below _batt_voltage_min
float batt_current_max = MIN(_batt_current_max, _batt_current + (_batt_voltage-_batt_voltage_min)/_batt_resistance);
float batt_current_ratio = _batt_current/batt_current_max;
float loop_interval = 1.0f/_loop_rate;
_throttle_limit += (loop_interval/(loop_interval+_batt_current_time_constant))*(1.0f - batt_current_ratio);