From a5e5ee73ebb2d5d916eae9fd0f146d97246679a9 Mon Sep 17 00:00:00 2001
From: Pierre Kancir <pierre.kancir@azurdrones.com>
Date: Sun, 25 Nov 2018 21:23:30 +0100
Subject: [PATCH] AP_HAL_SITL: correct battery setup for rover

---
 libraries/AP_HAL_SITL/SITL_State.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_SITL/SITL_State.cpp b/libraries/AP_HAL_SITL/SITL_State.cpp
index 58ae41d4c3..8737bb648d 100644
--- a/libraries/AP_HAL_SITL/SITL_State.cpp
+++ b/libraries/AP_HAL_SITL/SITL_State.cpp
@@ -481,7 +481,12 @@ void SITL_State::_simulator_servos(struct sitl_input &input)
                 }
             } else {
                 // simulate simple battery setup
-                float throttle = motors_on?(input.servos[2]-1000) / 1000.0f:0;
+                float throttle;
+                if (_vehicle == APMrover2) {
+                    throttle = motors_on ? (input.servos[2] - 1500) / 500.0f : 0;
+                } else {
+                    throttle = motors_on ? (input.servos[2] - 1000) / 1000.0f : 0;
+                }
                 // lose 0.7V at full throttle
                 voltage = _sitl->batt_voltage - 0.7f*fabsf(throttle);