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mavlink: Use round instead of ceil on BATTERY_STATUS percentage 

Co-authored-by: Alex Mikhalev <alex@corvus-robotics.com>
v1.13.0-BW
Kabir Mohammed 4 years ago committed by Daniel Agar
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1 changed files with 1 additions and 1 deletions
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      src/modules/mavlink/streams/BATTERY_STATUS.hpp

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src/modules/mavlink/streams/BATTERY_STATUS.hpp
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@ -75,7 +75,7 @@ private:
bat_msg.current_consumed = (battery_status.connected) ? battery_status.discharged_mah : -1; bat_msg.current_consumed = (battery_status.connected) ? battery_status.discharged_mah : -1;
bat_msg.energy_consumed = -1; bat_msg.energy_consumed = -1;
bat_msg.current_battery = (battery_status.connected) ? battery_status.current_filtered_a * 100 : -1; bat_msg.current_battery = (battery_status.connected) ? battery_status.current_filtered_a * 100 : -1;
bat_msg.battery_remaining = (battery_status.connected) ? ceilf(battery_status.remaining * 100.f) : -1; bat_msg.battery_remaining = (battery_status.connected) ? roundf(battery_status.remaining * 100.f) : -1;
// MAVLink extension: 0 is unsupported, in uORB it's NAN // MAVLink extension: 0 is unsupported, in uORB it's NAN
bat_msg.time_remaining = (battery_status.connected && (PX4_ISFINITE(battery_status.time_remaining_s))) ? bat_msg.time_remaining = (battery_status.connected && (PX4_ISFINITE(battery_status.time_remaining_s))) ?
math::max((int)battery_status.time_remaining_s, 1) : 0; math::max((int)battery_status.time_remaining_s, 1) : 0;

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