From 4179beca6d185455b47bed01b86117abd970ce57 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 10 Jun 2022 17:09:23 +0300 Subject: [PATCH] selfcheck.py: failure if GPS fusion is enabled but there is no GPS data --- clover/src/selfcheck.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/clover/src/selfcheck.py b/clover/src/selfcheck.py index 840fee49..9c9d6f5e 100755 --- a/clover/src/selfcheck.py +++ b/clover/src/selfcheck.py @@ -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')