selfcheck.py: print board rotation

clever/src/selfcheck.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python
+# coding=utf-8
 
 # Copyright (C) 2018 Copter Express Technologies
 #
@@ -144,6 +145,45 @@ def mavlink_exec(cmd, timeout=3.0):
     return mavlink_recv
 
 
+BOARD_ROTATIONS = {
+    0: 'no rotation',
+    1: 'yaw 45°',
+    2: 'yaw 90°',
+    3: 'yaw 135°',
+    4: 'yaw 180°',
+    5: 'yaw 225°',
+    6: 'yaw 270°',
+    7: 'yaw 315°',
+    8: 'roll 180°',
+    9: 'roll 180°, yaw 45°',
+    10: 'roll 180°, yaw 90°',
+    11: 'roll 180°, yaw 135°',
+    12: 'pitch 180°',
+    13: 'roll 180°, yaw 225°',
+    14: 'roll 180°, yaw 270°',
+    15: 'roll 180°, yaw 315°',
+    16: 'roll 90°',
+    17: 'roll 90°, yaw 45°',
+    18: 'roll 90°, yaw 90°',
+    19: 'roll 90°, yaw 135°',
+    20: 'roll 270°',
+    21: 'roll 270°, yaw 45°',
+    22: 'roll 270°, yaw 90°',
+    23: 'roll 270°, yaw 135°',
+    24: 'pitch 90°',
+    25: 'pitch 270°',
+    26: 'roll 270°, yaw 270°',
+    27: 'roll 180°, pitch 270°',
+    28: 'pitch 90°, yaw 180',
+    29: 'pitch 90°, roll 90°',
+    30: 'yaw 293°, pitch 68°, roll 90°',
+    31: 'pitch 90°, roll 270°',
+    32: 'pitch 9°, yaw 180°',
+    33: 'pitch 45°',
+    34: 'pitch 315°',
+}
+
+
 @check('FCU')
 def check_fcu():
     try:
@@ -189,6 +229,13 @@ def check_fcu():
         else:
             failure('unknown selected estimator: %s', est)
 
+        rot = get_param('SENS_BOARD_ROT')
+        if rot is not None:
+            try:
+                info('board rotation: %s', BOARD_ROTATIONS[rot])
+            except KeyError:
+                failure('unknown board rotation %s', rot)
+
     except rospy.ROSException:
         failure('no MAVROS state (check wiring)')