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Simulator: virtual battery drain simplified and stops when battery is exactly empty

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it's a lot more readable and battery draining stops exactly at the empty battery voltage which makes debuging easier because it's directly predicatable
This commit is contained in:
Matthias Grob 2017-10-19 11:39:42 +02:00 committed by ChristophTobler
parent f561d16334
commit bc15fdf267
1 changed files with 3 additions and 12 deletions
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15
src/modules/simulator/simulator_mavlink.cpp
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@ -368,20 +368,11 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
batt_sim_start = now;
}
unsigned cellcount = _battery.cell_count();
float vbatt = _battery.full_cell_voltage() ;
float ibatt = -1.0f;
float discharge_v = _battery.full_cell_voltage() - _battery.empty_cell_voltage();
vbatt = (_battery.full_cell_voltage() - (discharge_v * ((now - batt_sim_start) / discharge_interval_us))) * cellcount;
float batt_voltage_loaded = _battery.empty_cell_voltage() - 0.05f;
if (!PX4_ISFINITE(vbatt) || (vbatt < (cellcount * batt_voltage_loaded))) {
vbatt = cellcount * batt_voltage_loaded;
}
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());
vbatt *= _battery.cell_count();
// TODO: don't hard-code throttle.
const float throttle = 0.5f;