From 6003a64176a253451de9ab8758c4f58b4cfd7635 Mon Sep 17 00:00:00 2001 From: karthee-weston Date: Wed, 9 Oct 2024 16:32:22 +0800 Subject: [PATCH] ranger_base: updated BMS voltage calculation --- include/ugv_sdk/details/robot_base/ranger_base.hpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/include/ugv_sdk/details/robot_base/ranger_base.hpp b/include/ugv_sdk/details/robot_base/ranger_base.hpp index a95aaa96..c23e8d13 100644 --- a/include/ugv_sdk/details/robot_base/ranger_base.hpp +++ b/include/ugv_sdk/details/robot_base/ranger_base.hpp @@ -97,7 +97,7 @@ class RangerBase : public AgilexBase, public RangerInterface { ranger_bms.bms_basic_state.current = common_sensor.bms_basic_state.current; ranger_bms.bms_basic_state.voltage = - common_sensor.bms_basic_state.voltage * 0.1f; + common_sensor.bms_basic_state.voltage; ranger_bms.bms_basic_state.battery_soc = common_sensor.bms_basic_state.battery_soc; ranger_bms.bms_basic_state.battery_soh = @@ -123,7 +123,7 @@ class RangerMiniV2Base : public RangerBase { // Note: BMS CAN message definition is not consistent across AgileX robots. // RM2 BMS voltage data follows unit: 0.01V ranger_bms.bms_basic_state.voltage = - common_sensor.bms_basic_state.voltage * 0.01f; + common_sensor.bms_basic_state.voltage * 0.1f; ranger_bms.bms_basic_state.battery_soc = common_sensor.bms_basic_state.battery_soc; ranger_bms.bms_basic_state.battery_soh =