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fix(drivers): do not accumulate invalid current

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ttechnick 2026-03-18 11:37:22 +01:00 committed by Nick
parent d91950ef10
commit 177017e034
1 changed files with 2 additions and 1 deletions
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3
src/lib/battery/battery.cpp
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@ -201,8 +201,9 @@ void Battery::updateDt(const hrt_abstime &timestamp)
float Battery::sumDischarged(float current_a)
{
if (_dt > FLT_EPSILON) {
if (_dt > FLT_EPSILON && fabsf(current_a + 1.f) > FLT_EPSILON) {
// mAh since last loop: (current[A] * 1000 = [mA]) * (dt[s] / 3600 = [h])
// current = -1 means invalid current measurement
_discharged_mah_loop = (current_a * 1e3f) * (_dt / 3600.f);
_discharged_mah += _discharged_mah_loop;
}