From 753e0a8ab4f66e2e255c6ab111f21d92a0c384f5 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 25 Oct 2019 02:58:49 +0300 Subject: [PATCH] selfcheck.py: report magnetometer weight parameter --- clever/src/selfcheck.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/clever/src/selfcheck.py b/clever/src/selfcheck.py index 5b9c58fa..36f2ad27 100755 --- a/clever/src/selfcheck.py +++ b/clever/src/selfcheck.py @@ -224,6 +224,12 @@ def check_fcu(): else: info('LPE_FUSION: barometer fusion is disabled') + mag_yaw_w = get_param('ATT_W_MAG') + if mag_yaw_w == 0: + info('magnetometer weight (ATT_W_MAG) is zero, better for indoor flights') + else: + info('magnetometer weight (ATT_W_MAG) is non-zero (%.2f), better for outdoor flights', mag_yaw_w) + elif est == 2: info('selected estimator: EKF2') else: