From 35bf315227b23ac5501251f6970d5558ed5fef60 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Wed, 14 Aug 2019 00:14:14 +0300
Subject: [PATCH] selfcheck.py: check CBRK_USB_CHK parameter

---
 clever/src/selfcheck.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/clever/src/selfcheck.py b/clever/src/selfcheck.py
index 6d490dc7..57916b85 100755
--- a/clever/src/selfcheck.py
+++ b/clever/src/selfcheck.py
@@ -236,6 +236,10 @@ def check_fcu():
             except KeyError:
                 failure('unknown board rotation %s', rot)
 
+        cbrk_usb_chk = get_param('CBRK_USB_CHK')
+        if cbrk_usb_chk != 197848:
+            failure('Set parameter CBRK_USB_CHK to 197848 for flying with USB connected')
+
     except rospy.ROSException:
         failure('no MAVROS state (check wiring)')