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commander: ignore battery voltage in HIL mode

This commit is contained in:
Anton Babushkin 2014-03-03 21:19:56 +04:00
parent eb32c7198e
commit 3674aae4a7
1 changed files with 1 additions and 1 deletions
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2
src/modules/commander/commander.cpp
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@ -962,7 +962,7 @@ int commander_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(battery_status), battery_sub, &battery); orb_copy(ORB_ID(battery_status), battery_sub, &battery);
/* only consider battery voltage if system has been running 2s and battery voltage is valid */ /* only consider battery voltage if system has been running 2s and battery voltage is valid */
if (hrt_absolute_time() > start_time + 2000000 && battery.voltage_filtered_v > 0.0f) { if (status.hil_state == HIL_STATE_OFF && hrt_absolute_time() > start_time + 2000000 && battery.voltage_filtered_v > 0.0f) {
status.battery_voltage = battery.voltage_filtered_v; status.battery_voltage = battery.voltage_filtered_v;
status.battery_current = battery.current_a; status.battery_current = battery.current_a;
status.condition_battery_voltage_valid = true; status.condition_battery_voltage_valid = true;