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Does A Camper Battery Charge When Plugged In. The quick answer is Yes they do. Its really just a trickle charge but over time it can deplete the electrolyte levels in the battery cells.
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Your Rv can be connected to shore power from the campgrounds electrical grid through either 30 amp or 50 amp power chargers to get AC power. If you have a motorized RV class A B or C plugging into shore power may or may not charge your chassis battery. You need to check or have somebody check the battery at least monthly when the RV is plugged in during storage.
RV batteries charge when plugged in but this is not very healthy for them.
IF your rig is equipped with an inverter. Under normal scenarios if your RV battery is plugged in then it should be charging. In this situation you can leave them plugged in. But there are cases when there might be a problem with your power source converter or battery and your RV battery actually does not charge.