From 264fe884a2825ae430a19ba61e8c89d6a214f5cd Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 20 Jul 2014 16:28:44 +0200 Subject: [PATCH] Fixed load voltage calculation --- src/modules/commander/commander_helper.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp index 239b77df04..d87af2d7d4 100644 --- a/src/modules/commander/commander_helper.cpp +++ b/src/modules/commander/commander_helper.cpp @@ -317,7 +317,8 @@ float battery_remaining_estimate_voltage(float voltage, float discharged, float counter++; /* remaining charge estimate based on voltage and internal resistance (drop under load) */ - float remaining_voltage = (voltage - bat_n_cells * (bat_v_empty - (bat_v_load_drop * throttle_normalized)) / (bat_n_cells * (bat_v_full - bat_v_empty)); + float bat_v_full_dynamic = bat_v_full - (bat_v_load_drop * throttle_normalized); + float remaining_voltage = (voltage - (bat_n_cells * bat_v_empty)) / (bat_n_cells * (bat_v_full_dynamic - bat_v_empty)); if (bat_capacity > 0.0f) { /* if battery capacity is known, use discharged current for estimate, but don't show more than voltage estimate */