sys_status.cpp: When current data not available, obey the ROS standard

mavlink · Feb 16, 2022 · cd6693e · cd6693e
1 parent bbf379b
commit cd6693e
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/mavros/src/plugins/sys_status.cpp b/mavros/src/plugins/sys_status.cpp
@@ -396,7 +396,7 @@ class HwStatus : public diagnostic_updater::DiagnosticTask
 
 	void set(uint16_t v, uint8_t e) {
 		std::lock_guard<std::mutex> lock(mutex);
-		vcc = v / 1000.0;
+		vcc = v * 0.001f;
 		i2cerr = e;
 	}
 
@@ -870,7 +870,7 @@ class SystemStatusPlugin : public plugin::PluginBase
 		auto batt_msg = boost::make_shared<BatteryMsg>();
 		batt_msg->header.stamp = ros::Time::now();
 
-		batt_msg->current = -(bs.current_battery * 0.01f);	// 10 mA
+		batt_msg->current = bs.current_battery==-1?NAN:-(bs.current_battery * 0.01f);	// 10 mA
 		batt_msg->charge = NAN;
 		batt_msg->capacity = NAN;
 		batt_msg->design_capacity = NAN;