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fix formattting

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nanthony21
2018-02-10 20:15:29 -06:00
committed by Lorenz Meier
parent 53b4f6406f
commit a637063965
1 changed files with 2 additions and 1 deletions
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src/modules/systemlib/battery.cpp
+2 -1
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@@ -174,7 +174,7 @@ Battery::estimateRemaining(float voltage_v, float current_a, float throttle_norm
// remaining battery capacity based on voltage
float cell_voltage = voltage_v / _n_cells.get();
// correct battery voltage locally for load drop to avoid estimation fluctuations
if (_r_internal.get() >= 0.f) {
cell_voltage += _r_internal.get() * current_a;
@@ -184,6 +184,7 @@ Battery::estimateRemaining(float voltage_v, float current_a, float throttle_norm
// good assumption if throttle represents RPM
cell_voltage += throttle_normalized * throttle_normalized * _v_load_drop.get();
}
_remaining_voltage = math::gradual(cell_voltage, _v_empty.get(), _v_charged.get(), 0.f, 1.f);
// choose which quantity we're using for final reporting