Peter BarkerandClaude Opus 4.8 c9374d661a SITL: add SIM_BATT_RES_OHM to control simulated battery sag ...

Commit d2fc8cac ("SITL: Improve SIM::Battery energy consumption") made
unlimited-capacity batteries (the SITL default) sag under load where they
previously had none. As the simulated voltage scales motor thrust linearly,
there was no longer any way to run a sim vehicle without that thrust penalty.

Add a SIM_BATT_RES_OHM parameter that overrides the vehicle model's internal
resistance: negative keeps the model value (unchanged default behaviour), 0
disables sag entirely, and a positive value sets an explicit resistance. It is
applied live via Battery::maybe_reset(), so it can be changed without a reboot.

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>

2026-07-07 09:37:48 +10:00

..

test_battery.cpp

SITL: add SIM_BATT_RES_OHM to control simulated battery sag

2026-07-07 09:37:48 +10:00

test_sim_aircraft_filtered_servo_angle.cpp

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test_sim_ms5525.cpp

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test_sim_ms5611.cpp

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wscript

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