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Fix battery charge level filter

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This commit is contained in:
Lorenz Meier
2016-05-05 16:11:27 +02:00
parent 6c61b67fd5
commit bbd2b763a3
1 changed files with 2 additions and 2 deletions
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src/modules/systemlib/battery.cpp
+2 -2
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@@ -146,7 +146,7 @@ Battery::estimateRemaining(float voltage_v, float throttle_normalized)
// remaining battery capacity based on voltage
const float rvoltage = (voltage_v - (_param_n_cells.get() * bat_v_empty_dynamic))
/ (_param_n_cells.get() * voltage_range);
const float rvoltage_filt = rvoltage * 0.997f + _remaining_voltage * 0.003f;
const float rvoltage_filt = _remaining_voltage * 0.99f + rvoltage * 0.01f;
if (PX4_ISFINITE(rvoltage_filt)) {
_remaining_voltage = rvoltage_filt;
@@ -154,7 +154,7 @@ Battery::estimateRemaining(float voltage_v, float throttle_normalized)
// remaining battery capacity based on used current integrated time
const float rcap = 1.0f - _discharged_mah / _param_capacity.get();
const float rcap_filt = rcap * 0.99f + _remaining_capacity * 0.01f;
const float rcap_filt = _remaining_capacity * 0.99f + rcap * 0.01f;
if (PX4_ISFINITE(rcap_filt)) {
_remaining_capacity = rcap_filt;