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selfcheck.py: cast parameter to int when performing bitwise operations

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This commit is contained in:
Oleg Kalachev
2023-10-10 07:47:52 +03:00
parent c3d87b1608
commit 7ca0ede1d7
1 changed files with 7 additions and 7 deletions
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14
clover/src/selfcheck.py
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@@ -263,7 +263,7 @@ def check_fcu():
est = get_param('SYS_MC_EST_GROUP')
if est == 1:
info('selected estimator: LPE')
fuse = get_param('LPE_FUSION')
fuse = int(get_param('LPE_FUSION'))
if fuse & (1 << 4):
info('LPE_FUSION: land detector fusion is enabled')
else:
@@ -493,7 +493,7 @@ def check_vpe():
failure('vision yaw weight is zero, change ATT_W_EXT_HDG parameter')
else:
info('vision yaw weight: %s', ff(vision_yaw_w))
fuse = get_param('LPE_FUSION')
fuse = int(get_param('LPE_FUSION'))
if not fuse & (1 << 2):
failure('vision position fusion is disabled, change LPE_FUSION parameter')
delay = get_param('LPE_VIS_DELAY')
@@ -501,7 +501,7 @@ def check_vpe():
failure('LPE_VIS_DELAY = %s, but it should be zero', delay)
info('LPE_VIS_XY = %s m, LPE_VIS_Z = %s m', get_paramf('LPE_VIS_XY'), get_paramf('LPE_VIS_Z'))
elif est == 2:
fuse = get_param('EKF2_AID_MASK')
fuse = int(get_param('EKF2_AID_MASK'))
if not fuse & (1 << 3):
failure('vision position fusion is disabled, change EKF2_AID_MASK parameter')
if not fuse & (1 << 4):
@@ -612,7 +612,7 @@ def check_global_position():
rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=0.8)
except rospy.ROSException:
info('no global position')
if get_param('SYS_MC_EST_GROUP') == 2 and (get_param('EKF2_AID_MASK', 0) & (1 << 0)):
if get_param('SYS_MC_EST_GROUP') == 2 and (int(get_param('EKF2_AID_MASK', 0)) & (1 << 0)):
failure('enabled GPS fusion may suppress vision position aiding')
@@ -632,7 +632,7 @@ def check_optical_flow():
failure('SENS_FLOW_ROT = %s, but it should be zero', rot)
est = get_param('SYS_MC_EST_GROUP')
if est == 1:
fuse = get_param('LPE_FUSION')
fuse = int(get_param('LPE_FUSION'))
if not fuse & (1 << 1):
failure('optical flow fusion is disabled, change LPE_FUSION parameter')
if not fuse & (1 << 1):
@@ -646,7 +646,7 @@ def check_optical_flow():
get_paramf('LPE_FLW_R', 4),
get_paramf('LPE_FLW_RR', 4))
elif est == 2:
fuse = get_param('EKF2_AID_MASK', 0)
fuse = int(get_param('EKF2_AID_MASK', 0))
if not fuse & (1 << 1):
failure('optical flow fusion is disabled, change EKF2_AID_MASK parameter')
delay = get_param('EKF2_OF_DELAY', 0)
@@ -690,7 +690,7 @@ def check_rangefinder():
est = get_param('SYS_MC_EST_GROUP')
if est == 1:
fuse = get_param('LPE_FUSION', 0)
fuse = int(get_param('LPE_FUSION', 0))
if not fuse & (1 << 5):
info('"pub agl as lpos down" in LPE_FUSION is disabled, NOT operating over flat surface')
else: