battery: only reset soc filter with valid voltage measurement

PX4 · Aug 7, 2024 · 19d9e1d · 19d9e1d
1 parent 2d99ae1
commit 19d9e1d
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/src/lib/battery/battery.cpp b/src/lib/battery/battery.cpp
@@ -108,15 +108,15 @@ void Battery::updateCurrent(const float current_a)
 
 void Battery::updateBatteryStatus(const hrt_abstime &timestamp)
 {
-	if (!_battery_initialized && _internal_resistance_initialized && _params.n_cells > 0) {
-		resetInternalResistanceEstimation(_voltage_v, _current_a);
-	}
-
 	// Require minimum voltage otherwise override connected status
 	if (_voltage_v < LITHIUM_BATTERY_RECOGNITION_VOLTAGE) {
 		_connected = false;
 	}
 
+	if (_connected && !_battery_initialized && _internal_resistance_initialized && _params.n_cells > 0) {
+		resetInternalResistanceEstimation(_voltage_v, _current_a);
+	}
+
 	if (!_connected || (_last_unconnected_timestamp == 0)) {
 		_last_unconnected_timestamp = timestamp;
 	}