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fix non-real number possibility in current calculation

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Ewoud Smeur
2015-08-26 13:32:36 +02:00
parent d2334bf021
commit 1458fd88ad
1 changed files with 5 additions and 1 deletions
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sw/airborne/subsystems/electrical.c
+5 -1
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@@ -143,8 +143,12 @@ void electrical_periodic(void)
/* electrical.current y = ( b^n - (b* x/a)^n )^1/n
* a=1, n = electrical_priv.nonlin_factor
*/
electrical.current = b - pow((pow(b, electrical_priv.nonlin_factor) - pow((b * x), electrical_priv.nonlin_factor)),
if(x>1.0) //check if the thrust command is larger than the maximum to avoid getting a non-real number
electrical.current = b;
else {
electrical.current = b - pow((pow(b, electrical_priv.nonlin_factor) - pow((b * x), electrical_priv.nonlin_factor)),
(1. / electrical_priv.nonlin_factor));
}
#endif /* ADC_CHANNEL_CURRENT */
// mAh = mA * dt (10Hz -> hours)