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optical_flow: add disable_on_vpe parameter (#461)

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This commit is contained in:
Oleg Kalachev
2022-10-31 02:31:47 +06:00
committed by GitHub
parent 22293c2220
commit 6b05cb34e5
3 changed files with 36 additions and 9 deletions
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9
clover/src/selfcheck.py
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@@ -603,7 +603,14 @@ def check_optical_flow():
get_param('SENS_FLOW_MAXHGT'))
except rospy.ROSException:
failure('no optical flow data (from Raspberry)')
if rospy.get_param('optical_flow/disable_on_vpe', False):
try:
rospy.wait_for_message('mavros/vision_pose/pose', PoseStamped, timeout=1)
info('no optical flow as disable_on_vpe is true')
except:
failure('no optical flow on RPi, disable_on_vpe is true, but no vision pose also')
else:
failure('no optical flow on RPi')
@check('Rangefinder')