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Battery: Switch thrust based load compensation back to linear

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To account for the parameter definition.
My tests if quadratic is actually better in practise were anyways not conclusive.
This commit is contained in:
Matthias Grob
2018-02-22 10:22:37 +01:00
committed by Lorenz Meier
parent 5bb9babc20
commit d39a8b5a48
1 changed files with 2 additions and 5 deletions
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src/modules/systemlib/battery.cpp
+2 -5
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@@ -167,8 +167,6 @@ Battery::sumDischarged(hrt_abstime timestamp, float current_a)
void
Battery::estimateRemaining(float voltage_v, float current_a, float throttle_normalized, bool armed)
{
// remaining battery capacity based on voltage
float cell_voltage = voltage_v / _n_cells.get();
@@ -177,9 +175,8 @@ Battery::estimateRemaining(float voltage_v, float current_a, float throttle_norm
cell_voltage += _r_internal.get() * current_a;
} else {
// assume quadratic relation between throttle and current
// good assumption if throttle represents RPM
cell_voltage += throttle_normalized * throttle_normalized * _v_load_drop.get();
// assume linear relation between throttle and voltage drop
cell_voltage += throttle_normalized * _v_load_drop.get();
}
_remaining_voltage = math::gradual(cell_voltage, _v_empty.get(), _v_charged.get(), 0.f, 1.f);