mirror of https://github.com/ArduPilot/ardupilot.git synced 2026-02-04 03:34:47 -06:00

Peter Barker 7ceb7c31c7 global: fix whitespace issues in markdown files

global: fix MD007 unordered list indentation in markdown files

Normalize unordered list indentation to use 2-space multiples:
- Top-level list items start at column 0
- Nested list items use 2 additional spaces per level

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

global: fix MD009 trailing whitespace in markdown files

Remove trailing whitespace from all affected markdown files.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

global: fix MD010 hard tabs in markdown files

Replace hard tab characters with 4 spaces.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

global: fix MD012 multiple consecutive blank lines in markdown

Collapse multiple consecutive blank lines to single blank lines
across all markdown files (excluding vendored code).

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

global: fix MD007 list indentation base level in markdown

Shift list indentation left by 2 spaces so top-level list items
start at column 0 instead of column 2.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD022 blank lines around headings in markdown

Ensure headings are surrounded by blank lines as required by
markdownlint MD022 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD032 blank lines around lists in markdown

Ensure lists are surrounded by blank lines as required by
markdownlint MD032 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD031 blank lines around code blocks in markdown

Ensure fenced code blocks are surrounded by blank lines as required
by markdownlint MD031 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD047 files should end with single newline

Ensure all markdown files end with exactly one newline character
as required by markdownlint MD047 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD023 headings must start at beginning of line

Remove leading whitespace from heading lines as required by
markdownlint MD023 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD007 remaining list indentation in markdown

Fix unordered list indentation to use correct spacing as required
by markdownlint MD007 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD030 spaces after list markers in markdown

Reduce multiple spaces after list markers to single space as
required by markdownlint MD030 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD022 blank lines around setext headings

Ensure setext-style headings (underlined with === or ---) are
surrounded by blank lines as required by markdownlint MD022 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD018 missing space after hash in headings

Add space after hash marks in atx-style headings as required by
markdownlint MD018 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD019 multiple spaces after hash in headings

Reduce multiple spaces after hash marks to single space in
atx-style headings as required by markdownlint MD019 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD012 multiple consecutive blank lines in markdown

Remove multiple consecutive blank lines and ensure files end with
exactly one newline as required by markdownlint MD012 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD023 headings with leading whitespace

Remove leading whitespace from setext-style heading text lines
as required by markdownlint MD023 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD022 blank line after heading in markdown

Add missing blank line after heading as required by markdownlint
MD022 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD009 trailing non-breaking space in markdown

Remove trailing non-breaking space (U+00A0) as required by
markdownlint MD009 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD012 remaining multiple blank lines in markdown

Remove leading blank lines and whitespace-only lines that create
multiple consecutive blank lines.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

2026-02-04 11:37:38 +11:00

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Battery State of Charge Estimator

This script implements a battery state of charge estimator based on resting voltage and a simple cell model.

This allows the remaining battery percentage to be automatically set based on the resting voltage when disarmed.

Parameters

You will need to start by setting BATT_SOC_COUNT to the number of estimators you want (how many batteries you want to do SoC estimation for).

Then you should restart scripting or reboot and set the following parameters per SoC estimator.

BATT_SOCn_IDX

The IDX is the battery index, starting at 1.

BATT_SOCn_NCELL

Set the number of cells in your battery in the NCELL parameter

BATT_SOCn_C1

C1 is the first coefficient from your fit of your battery

BATT_SOCn_C2

C2 is the second coefficient from your fit of your battery

BATT_SOCn_C3

C3 is the third coefficient from your fit of your battery

BATT_SOCn_C4

C4 is the fourth coefficient from your fit of your battery

Usage

You need to start by working out the coefficients C1, C2, C3 and C4 for your battery. You can do this by starting with a fully charged battery and slowly discharging it with LOG_DISARMED set to 1. Alternatively you can provide a CSV file with battery percentage in the first column and voltage in the 2nd column.

Then run the resulting log or csv file through the script at Tools/scripts/battery_fit.py. The fitting process is designed to work reliably with LiPo and Li-ion batteries and is generally effective for other battery chemistries as well, but users should verify that the fit is accurate for their specific case.

You will need to tell the script the following:

the number of cells
the final percentage charge your log stops at
the battery index you want to fit to (1 is the first battery)

That will produce a graph and a set of coefficients like this:

Coefficients C1=111.5629 C2=3.6577 C3=0.2048 C4=80.0000

Use the C1, C2, C3 and C4 parameters in the parameters for this script.

The remaining battery percentage is only set when disarmed, and won't be set till 10 seconds after you disarm from a flight.

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