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Simulator: virtual battery drain stops by default at 50% to avoid failing preflight checks to take off again

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also added comments and removed throttle compensation because there is no real battery emulation with load drop
This commit is contained in:
Matthias Grob
2018-01-04 11:33:47 +01:00
committed by ChristophTobler
parent 8c998c1309
commit 385212f2c1
1 changed files with 7 additions and 5 deletions
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src/modules/simulator/simulator_mavlink.cpp
+7 -5
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@@ -368,14 +368,16 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
batt_sim_start = now;
}
float ibatt = -1.0f;
float ibatt = -1.0f; // no current sensor in simulation
const float minimum_percentage = 0.5f; // change this value if you want to simulate low battery reaction
const float battery_time = (now - batt_sim_start) / discharge_interval_us;
float vbatt = math::gradual(battery_time, 0.f, 1.f, _battery.full_cell_voltage(), _battery.empty_cell_voltage());
/* Simulate the voltage of a linearly draining battery but stop at the minimum percentage */
float battery_percentage = (now - batt_sim_start) / discharge_interval_us;
battery_percentage = math::min(battery_percentage, minimum_percentage);
float vbatt = math::gradual(battery_percentage, 0.f, 1.f, _battery.full_cell_voltage(), _battery.empty_cell_voltage());
vbatt *= _battery.cell_count();
// TODO: don't hard-code throttle.
const float throttle = 0.5f;
const float throttle = 0.0f; // simulate no throttle compensation to make the estimate predictable
_battery.updateBatteryStatus(now, vbatt, ibatt, true, true, 0, throttle, armed, &_battery_status);
// publish the battery voltage