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Fix formatting in battery

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This commit is contained in:
Lorenz Meier
2016-04-29 11:16:41 +02:00
parent 4a94835880
commit 567364317a
1 changed files with 4 additions and 2 deletions
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src/modules/systemlib/battery.cpp
+4 -2
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@@ -142,11 +142,12 @@ Battery::estimateRemaining(float voltage_v, float throttle_normalized)
// the range from full to empty is the same for batteries under load and without load,
// since the voltage drop applies to both the full and empty state
const float voltage_range = (_param_v_full.get() - _param_v_empty.get());
// remaining battery capacity based on voltage
const float rvoltage = (voltage_v - (_param_n_cells.get() * bat_v_empty_dynamic))
/ (_param_n_cells.get() * voltage_range);
/ (_param_n_cells.get() * voltage_range);
const float rvoltage_filt = rvoltage * 0.99f + _remaining_voltage * 0.01f;
if (PX4_ISFINITE(rvoltage_filt)) {
_remaining_voltage = rvoltage_filt;
}
@@ -154,6 +155,7 @@ Battery::estimateRemaining(float voltage_v, float throttle_normalized)
// remaining battery capacity based on used current integrated time
const float rcap = 1.0f - _discharged_mah / _param_capacity.get();
const float rcap_filt = rcap * 0.99f + _remaining_capacity * 0.01f;
if (PX4_ISFINITE(rcap_filt)) {
_remaining_capacity = rcap_filt;
}