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Use SYS_HAS_MAG in sensor info

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artem30801
2024-09-17 18:23:13 +03:00
parent 29c18d9b0b
commit 46e3ca6a38
1 changed files with 5 additions and 2 deletions
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7
drone/modules/mavros_wrapper.py
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@@ -82,15 +82,18 @@ def get_calibration_status():
gyro_status = get_param('CAL_GYRO0_ID')
mag_status = get_param('CAL_MAG0_ID')
acc_status = get_param('CAL_ACC0_ID')
sys_has_mag = get_param('SYS_HAS_MAG')
has_mag = sys_has_mag.success and sys_has_mag.value.integer == 1
status_text = ""
if gyro_status.value.integer == 0 and gyro_status.success:
status_text += "gyro: uncalibrated; "
if mag_status.value.integer == 0 and mag_status.success:
if has_mag and mag_status.value.integer == 0 and mag_status.success:
status_text += "mag: uncalibrated; "
if acc_status.value.integer == 0 and acc_status.success:
status_text += "acc: uncalibrated; "
if status_text == "":
if not gyro_status.success or not mag_status.success or not acc_status.success:
if not gyro_status.success or not acc_status.success or not (has_mag and mag_status.success):
status_text = "NO_INFO"
else:
status_text = "OK"