From d39a8b5a486b3e580157181a94bea8b17f683c9c Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Thu, 22 Feb 2018 10:22:37 +0100
Subject: [PATCH] Battery: Switch thrust based load compensation back to linear
To account for the parameter definition.
My tests if quadratic is actually better in practise were anyways not conclusive.
---
src/modules/systemlib/battery.cpp | 7 ++-----
1 file changed, 2 insertions(+), 5 deletions(-)
diff --git a/src/modules/systemlib/battery.cpp b/src/modules/systemlib/battery.cpp
index 7a8a8e940d..5b45c90441 100644
--- a/src/modules/systemlib/battery.cpp
+++ b/src/modules/systemlib/battery.cpp
@@ -167,8 +167,6 @@ Battery::sumDischarged(hrt_abstime timestamp, float current_a)
void
Battery::estimateRemaining(float voltage_v, float current_a, float throttle_normalized, bool armed)
{
-
-
// remaining battery capacity based on voltage
float cell_voltage = voltage_v / _n_cells.get();
@@ -177,9 +175,8 @@ Battery::estimateRemaining(float voltage_v, float current_a, float throttle_norm
cell_voltage += _r_internal.get() * current_a;
} else {
- // assume quadratic relation between throttle and current
- // good assumption if throttle represents RPM
- cell_voltage += throttle_normalized * throttle_normalized * _v_load_drop.get();
+ // assume linear relation between throttle and voltage drop
+ cell_voltage += throttle_normalized * _v_load_drop.get();
}
_remaining_voltage = math::gradual(cell_voltage, _v_empty.get(), _v_charged.get(), 0.f, 1.f);
--
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