From a91aa40a3d7d3cc9ba6a5bbe40b35237b69aacb3 Mon Sep 17 00:00:00 2001
From: chfriedrich98 <125505139+chfriedrich98@users.noreply.github.com>
Date: Thu, 8 Aug 2024 17:09:36 +0200
Subject: [PATCH] battery: only reset soc filter with valid voltage measurement
 (#23513)

---
 src/lib/battery/battery.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/lib/battery/battery.cpp b/src/lib/battery/battery.cpp
index 4d4715a0d5..5b41dde3b8 100644
--- a/src/lib/battery/battery.cpp
+++ b/src/lib/battery/battery.cpp
@@ -108,10 +108,6 @@ void Battery::updateCurrent(const float current_a)
 
 void Battery::updateBatteryStatus(const hrt_abstime &timestamp)
 {
-	if (!_battery_initialized && _internal_resistance_initialized && _params.n_cells > 0) {
-		resetInternalResistanceEstimation(_voltage_v, _current_a);
-	}
-
 	// Require minimum voltage otherwise override connected status
 	if (_voltage_v < LITHIUM_BATTERY_RECOGNITION_VOLTAGE) {
 		_connected = false;
@@ -121,9 +117,13 @@ void Battery::updateBatteryStatus(const hrt_abstime &timestamp)
 		_last_unconnected_timestamp = timestamp;
 	}
 
-	// wait with initializing filters to avoid relying on a voltage sample from the rising edge
+	// Wait with initializing filters to avoid relying on a voltage sample from the rising edge
 	_battery_initialized = _connected && (timestamp > _last_unconnected_timestamp + 2_s);
 
+	if (_connected && !_battery_initialized && _internal_resistance_initialized && _params.n_cells > 0) {
+		resetInternalResistanceEstimation(_voltage_v, _current_a);
+	}
+
 	sumDischarged(timestamp, _current_a);
 	_state_of_charge_volt_based =
 		calculateStateOfChargeVoltageBased(_voltage_v, _current_a);