From 77a896a0dda3dc2eecb4bef3e35a4a55dcc6e2cf Mon Sep 17 00:00:00 2001
From: CUAVcaijie <caijie@cuav.net>
Date: Fri, 1 Nov 2019 10:35:04 +0800
Subject: [PATCH] UAVCAN: Fixed CAN battery status

* Set battery.voltage_filtered_v and battery.current_filtered_a value
* Fixed battery.remaining error when full_charge_capacity_wh is zero
---
 src/drivers/uavcan/sensors/battery.cpp | 15 ++++++++++++---
 1 file changed, 12 insertions(+), 3 deletions(-)

diff --git a/src/drivers/uavcan/sensors/battery.cpp b/src/drivers/uavcan/sensors/battery.cpp
index 58d73398a7..6b04819da7 100644
--- a/src/drivers/uavcan/sensors/battery.cpp
+++ b/src/drivers/uavcan/sensors/battery.cpp
@@ -69,12 +69,21 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
 
 	battery.timestamp = hrt_absolute_time();
 	battery.voltage_v = msg.voltage;
-	// battery.voltage_filtered_v = msg.;
+	battery.voltage_filtered_v = battery.voltage_v;
 	battery.current_a = msg.current;
-	// battery.current_filtered_a = msg.;
+	battery.current_filtered_a = battery.current_a;
 	// battery.average_current_a = msg.;
 	// battery.discharged_mah = msg.;
-	battery.remaining = msg.remaining_capacity_wh / msg.full_charge_capacity_wh; // between 0 and 1
+
+	// between 0 and 1
+	if (msg.full_charge_capacity_wh > 0) {
+		battery.remaining = msg.remaining_capacity_wh / msg.full_charge_capacity_wh;
+
+	} else {
+		battery.remaining = 0;
+
+	}
+
 	// battery.scale = msg.; // Power scaling factor, >= 1, or -1 if unknown
 	battery.temperature = msg.temperature;
 	// battery.cell_count = msg.;