fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

Simulator: fix battery sim

Browse Source
This commit is contained in:
Lorenz Meier 2016-06-23 22:32:14 +02:00
parent 571798c318
commit 024a86c309
1 changed files with 4 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
src/modules/simulator/simulator_mavlink.cpp
View File

@ -69,7 +69,6 @@ static int _fd;
static unsigned char _buf[1024];
sockaddr_in _srcaddr;
static socklen_t _addrlen = sizeof(_srcaddr);
static bool actuators_on = false;
static hrt_abstime batt_sim_start = 0;
const unsigned mode_flag_armed = 128; // following MAVLink spec
@ -245,7 +244,9 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
const float discharge_interval_us = 60 * 1000 * 1000;
if (!actuators_on || batt_sim_start == 0 || batt_sim_start > now) {
bool armed = (_vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
if (!armed || batt_sim_start == 0 || batt_sim_start > now) {
batt_sim_start = now;
}
@ -268,7 +269,7 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
// TODO: don't hard-code throttle.
const float throttle = 0.5f;
_battery.updateBatteryStatus(now, vbatt, ibatt, throttle, actuators_on, &battery_status);
_battery.updateBatteryStatus(now, vbatt, ibatt, throttle, armed, &battery_status);
// publish the battery voltage
int batt_multi;