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battery: fix isFloatEqual(), use matrix::isEqualF

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Fixes param migration, e.g. if BAT_N_CELLS is set, migrates to
BAT1_N_CELLS.
This commit is contained in:
Beat Küng 2020-10-16 15:09:41 +02:00
parent 6ae17eb13c
commit 83b81fbbef
1 changed files with 4 additions and 5 deletions
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9
src/lib/battery/battery.h
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@ -48,6 +48,7 @@
#include <board_config.h>
#include <px4_platform_common/board_common.h>
#include <px4_platform_common/module_params.h>
#include <matrix/math.hpp>
#include <drivers/drv_hrt.h>
#include <lib/parameters/param.h>
@ -179,22 +180,20 @@ protected:
param_get(new_param, new_val);
// Check if the parameter values are different
if (!isFloatEqual(*old_val, *new_val)) {
if (!matrix::isEqualF((float)*old_val, (float)*new_val)) {
// If so, copy the new value over to the unchanged parameter
// Note: If they differ from the beginning we migrate old to new
if (firstcall || !isFloatEqual(*old_val, previous_old_val)) {
if (firstcall || !matrix::isEqualF((float)*old_val, (float)previous_old_val)) {
param_set_no_notification(new_param, old_val);
param_get(new_param, new_val);
} else if (!isFloatEqual(*new_val, previous_new_val)) {
} else if (!matrix::isEqualF((float)*new_val, (float)previous_new_val)) {
param_set_no_notification(old_param, new_val);
param_get(old_param, old_val);
}
}
}
bool isFloatEqual(float a, float b) const { return fabsf(a - b) > FLT_EPSILON; }
private:
void sumDischarged(const hrt_abstime &timestamp, float current_a);
void estimateRemaining(const float voltage_v, const float current_a, const float throttle);