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Battery: Deal with symmetric throttle

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Lorenz Meier
2016-04-28 13:05:44 +02:00
parent d67ff7564f
commit a676af3d42
1 changed files with 1 additions and 1 deletions
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src/modules/systemlib/battery.cpp
+1 -1
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@@ -132,7 +132,7 @@ void
Battery::estimateRemaining(float voltage_v, float throttle_normalized)
{
// XXX this time constant needs to become tunable but really, the right fix are smart batteries.
const float filtered_next = _throttle_filtered * 0.97f + throttle_normalized * 0.03f;
const float filtered_next = _throttle_filtered * 0.97f + fabsf(throttle_normalized) * 0.03f;
if (PX4_ISFINITE(filtered_next)) {
_throttle_filtered = filtered_next;