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selfcheck.py: code syle

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This commit is contained in:
Oleg Kalachev
2019-05-11 14:19:42 +03:00
parent cabe76a607
commit 7c5af5f494
1 changed files with 13 additions and 13 deletions
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26
clever/src/selfcheck.py
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@@ -63,7 +63,7 @@ def get_param(name):
res = param_get(param_id=name)
except rospy.ServiceException as e:
failure('%s: %s', name, str(e))
return
return None
if not res.success:
failure('Unable to retrieve PX4 parameter %s', name)
@@ -178,8 +178,8 @@ def check_vpe():
if delay != 0:
failure('EKF2_EV_DELAY is %.2f, but it should be zero', delay)
rospy.loginfo('EKF2_EVA_NOISE is %.3f, EKF2_EVP_NOISE is %.3f',
get_param('EKF2_EVA_NOISE'),
get_param('EKF2_EVP_NOISE'))
get_param('EKF2_EVA_NOISE'),
get_param('EKF2_EVP_NOISE'))
if not vis:
return
@@ -297,11 +297,11 @@ def check_optical_flow():
failure('LPE_FLW_SCALE parameter is %.2f, but it should be 1.0', scale)
rospy.loginfo('LPE_FLW_QMIN is %s, LPE_FLW_R is %.4f, LPE_FLW_RR is %.4f, SENS_FLOW_MINHGT is %.3f, SENS_FLOW_MAXHGT is %.3f',
get_param('LPE_FLW_QMIN'),
get_param('LPE_FLW_R'),
get_param('LPE_FLW_RR'),
get_param('SENS_FLOW_MINHGT'),
get_param('SENS_FLOW_MAXHGT'))
get_param('LPE_FLW_QMIN'),
get_param('LPE_FLW_R'),
get_param('LPE_FLW_RR'),
get_param('SENS_FLOW_MINHGT'),
get_param('SENS_FLOW_MAXHGT'))
elif est == 2:
fuse = get_param('EKF2_AID_MASK')
if not fuse & (1 << 1):
@@ -310,11 +310,11 @@ def check_optical_flow():
if delay != 0:
failure('EKF2_OF_DELAY is %.2f, but it should be zero', delay)
rospy.loginfo('EKF2_OF_QMIN is %s, EKF2_OF_N_MIN is %.4f, EKF2_OF_N_MAX is %.4f, SENS_FLOW_MINHGT is %.3f, SENS_FLOW_MAXHGT is %.3f',
get_param('EKF2_OF_QMIN'),
get_param('EKF2_OF_N_MIN'),
get_param('EKF2_OF_N_MAX'),
get_param('SENS_FLOW_MINHGT'),
get_param('SENS_FLOW_MAXHGT'))
get_param('EKF2_OF_QMIN'),
get_param('EKF2_OF_N_MIN'),
get_param('EKF2_OF_N_MAX'),
get_param('SENS_FLOW_MINHGT'),
get_param('SENS_FLOW_MAXHGT'))
except rospy.ROSException:
failure('no optical flow data (from Raspberry)')