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MAVLink Simulation: Battery Percentage Fix #11205

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Jan 14, 2019
Merged

MAVLink Simulation: Battery Percentage Fix #11205

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b84e01b
simulator_mavlink: switch battery max and min to fix simultion
MaEtUgR Jan 13, 2019
d3a0311
simulator_mavlink: take care of battery percentage rounding errors
MaEtUgR Jan 13, 2019
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6 changes: 3 additions & 3 deletions src/modules/simulator/simulator_mavlink.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -327,13 +327,13 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
}

float ibatt = -1.0f; // no current sensor in simulation
const float minimum_percentage = 0.5f; // change this value if you want to simulate low battery reaction
const float minimum_percentage = 0.499f; // change this value if you want to simulate low battery reaction

/* Simulate the voltage of a linearly draining battery but stop at the minimum percentage */
float battery_percentage = 1.0f - (now_us - batt_sim_start) / discharge_interval_us;

battery_percentage = math::min(battery_percentage, minimum_percentage);
float vbatt = math::gradual(battery_percentage, 0.f, 1.f, _battery.full_cell_voltage(), _battery.empty_cell_voltage());
battery_percentage = math::max(battery_percentage, minimum_percentage);
float vbatt = math::gradual(battery_percentage, 0.f, 1.f, _battery.empty_cell_voltage(), _battery.full_cell_voltage());
vbatt *= _battery.cell_count();

const float throttle = 0.0f; // simulate no throttle compensation to make the estimate predictable
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