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Simulator: fix battery sim

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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
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src/modules/simulator/simulator_mavlink.cpp
+4 -3
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@@ -69,7 +69,6 @@ static int _fd;
static unsigned char _buf[1024]; static unsigned char _buf[1024];
sockaddr_in _srcaddr; sockaddr_in _srcaddr;
static socklen_t _addrlen = sizeof(_srcaddr); static socklen_t _addrlen = sizeof(_srcaddr);
static bool actuators_on = false;
static hrt_abstime batt_sim_start = 0; static hrt_abstime batt_sim_start = 0;
const unsigned mode_flag_armed = 128; // following MAVLink spec 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; 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; batt_sim_start = now;
} }
@@ -268,7 +269,7 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
// TODO: don't hard-code throttle. // TODO: don't hard-code throttle.
const float throttle = 0.5f; 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 // publish the battery voltage
int batt_multi; int batt_multi;