From 9fbd6b912d59ae1dbe9419af1359abf987a70ac6 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Mon, 23 Oct 2017 17:03:30 +0200
Subject: [PATCH] Battery: adapt output constraints to possible values, only
calculate remaining capacity if capacity is configured
---
src/modules/systemlib/battery.cpp | 13 +++----------
1 file changed, 3 insertions(+), 10 deletions(-)
diff --git a/src/modules/systemlib/battery.cpp b/src/modules/systemlib/battery.cpp
index 640a65e775..5cd5090ab7 100644
--- a/src/modules/systemlib/battery.cpp
+++ b/src/modules/systemlib/battery.cpp
@@ -183,18 +183,11 @@ Battery::estimateRemaining(float voltage_v, float current_a, float throttle_norm
const float cell_voltage = voltage_v / _n_cells.get();
_remaining_voltage = math::gradual(cell_voltage, _v_empty.get(), _v_charged.get(), 0.f, 1.f);
- // remaining battery capacity based on used current integrated time
- _remaining_capacity = 1.f - _discharged_mah / _capacity.get();
-
- // limit to sane values
- _remaining_voltage = (_remaining_voltage < 0.f) ? 0.f : _remaining_voltage;
- _remaining_voltage = (_remaining_voltage > 1.f) ? 1.f : _remaining_voltage;
-
- _remaining_capacity = (_remaining_capacity < 0.f) ? 0.f : _remaining_capacity;
- _remaining_capacity = (_remaining_capacity > 1.f) ? 1.f : _remaining_capacity;
-
// choose which quantity we're using for final reporting
if (_capacity.get() > 0.f) {
+ // remaining battery capacity based on used current integrated time
+ _remaining_capacity = math::max(1.f - _discharged_mah / _capacity.get(), 0.f);
+
// if battery capacity is known, use discharged current for estimate,
// but don't show more than voltage estimate
_remaining = fminf(_remaining_voltage, _remaining_capacity);
--
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