From c64ad25109427cdc22ca6f7c4c82a5aebe1ecf26 Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Fri, 17 Jan 2025 17:17:12 +0100
Subject: [PATCH 1/4] Remove blocking delay from batteryUpdate initialization

---
 src/main/sensors/battery.c | 14 +++++++++++---
 1 file changed, 11 insertions(+), 3 deletions(-)

diff --git a/src/main/sensors/battery.c b/src/main/sensors/battery.c
index a29fa2e07cf..6af2e886061 100644
--- a/src/main/sensors/battery.c
+++ b/src/main/sensors/battery.c
@@ -351,16 +351,24 @@ static void checkBatteryCapacityState(void)
 
 void batteryUpdate(timeUs_t timeDelta)
 {
+    static timeUs_t batteryConnectedTime = 0;
     /* battery has just been connected*/
     if (batteryState == BATTERY_NOT_PRESENT && vbat > VBATT_PRESENT_THRESHOLD) {
+        if(batteryConnectedTime == 0) {
+            batteryConnectedTime = micros();
+            return;
+        }
 
-        /* Actual battery state is calculated below, this is really BATTERY_PRESENT */
-        batteryState = BATTERY_OK;
         /* wait for VBatt to stabilise then we can calc number of cells
         (using the filtered value takes a long time to ramp up)
         We only do this on the ground so don't care if we do block, not
         worse than original code anyway*/
-        delay(VBATT_STABLE_DELAY);
+        if((micros() - batteryConnectedTime) < VBATT_STABLE_DELAY) {
+            return;
+        }
+
+        /* Actual battery state is calculated below, this is really BATTERY_PRESENT */
+        batteryState = BATTERY_OK;
         updateBatteryVoltage(timeDelta, true);
 
         int8_t detectedProfileIndex = -1;

From fbd1ed5be6ff7a616a5c504917d85b11aeaa184f Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Sat, 18 Jan 2025 14:03:56 +0100
Subject: [PATCH 2/4] Cover scenario when battery is unplugged, but fc is still
 powered.

---
 src/main/sensors/battery.c | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/main/sensors/battery.c b/src/main/sensors/battery.c
index 6af2e886061..e6b07fe8732 100644
--- a/src/main/sensors/battery.c
+++ b/src/main/sensors/battery.c
@@ -404,6 +404,7 @@ void batteryUpdate(timeUs_t timeDelta)
         /* battery has been disconnected - can take a while for filter cap to disharge so we use a threshold of VBATT_PRESENT_THRESHOLD */
         if (batteryState != BATTERY_NOT_PRESENT && vbat <= VBATT_PRESENT_THRESHOLD) {
             batteryState = BATTERY_NOT_PRESENT;
+            batteryConnectedTime = 0;
             batteryCellCount = 0;
             batteryWarningVoltage = 0;
             batteryCriticalVoltage = 0;

From 62efa65b4f35087f3124a8fc57fc5782499063e6 Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Sat, 18 Jan 2025 08:11:08 -0500
Subject: [PATCH 3/4] Update battery.c

---
 src/main/sensors/battery.c | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/main/sensors/battery.c b/src/main/sensors/battery.c
index e6b07fe8732..fdf10920e7d 100644
--- a/src/main/sensors/battery.c
+++ b/src/main/sensors/battery.c
@@ -361,8 +361,7 @@ void batteryUpdate(timeUs_t timeDelta)
 
         /* wait for VBatt to stabilise then we can calc number of cells
         (using the filtered value takes a long time to ramp up)
-        We only do this on the ground so don't care if we do block, not
-        worse than original code anyway*/
+        Blocking can cause issues with som ESCs */
         if((micros() - batteryConnectedTime) < VBATT_STABLE_DELAY) {
             return;
         }

From 6e0674248c28d074384217f31b3540678b1bd8ea Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Sat, 18 Jan 2025 08:12:19 -0500
Subject: [PATCH 4/4] Update battery.c

---
 src/main/sensors/battery.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/sensors/battery.c b/src/main/sensors/battery.c
index fdf10920e7d..e9167e09120 100644
--- a/src/main/sensors/battery.c
+++ b/src/main/sensors/battery.c
@@ -361,7 +361,7 @@ void batteryUpdate(timeUs_t timeDelta)
 
         /* wait for VBatt to stabilise then we can calc number of cells
         (using the filtered value takes a long time to ramp up)
-        Blocking can cause issues with som ESCs */
+        Blocking can cause issues with some ESCs */
         if((micros() - batteryConnectedTime) < VBATT_STABLE_DELAY) {
             return;
         }