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selfcheck.py: failure if GPS fusion is enabled but there is no GPS data

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This commit is contained in:
Oleg Kalachev
2022-06-10 17:09:23 +03:00
parent 494a116cd3
commit 4179beca6d
1 changed files with 2 additions and 0 deletions
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clover/src/selfcheck.py
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@@ -534,6 +534,8 @@ def check_global_position():
rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=1)
except rospy.ROSException:
info('no global position')
if get_param('SYS_MC_EST_GROUP') == 2 and (get_param('EKF2_AID_MASK') & (1 << 0)):
failure('enabled GPS fusion may suppress vision position aiding')
@check('Optical flow')