CopterExpress/clover
1
0
Fork 0
mirror of https://github.com/CopterExpress/clover.git synced 2026-05-26 11:43:25 +00:00
Code Issues Packages Projects Releases Wiki Activity

selfcheck.py: split up estimator's and flow sensor's parameters reports

Browse Source
This commit is contained in:
Oleg Kalachev
2022-10-31 02:41:21 +06:00
parent 6b05cb34e5
commit 89bfc150f3
1 changed files with 5 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
clover/src/selfcheck.py
View File

@@ -582,12 +582,10 @@ def check_optical_flow():
if not numpy.isclose(scale, 1.0):
failure('LPE_FLW_SCALE = %.2f, but it should be 1.0', scale)
info('LPE_FLW_QMIN = %s, LPE_FLW_R = %.4f, LPE_FLW_RR = %.4f, SENS_FLOW_MINHGT = %.3f, SENS_FLOW_MAXHGT = %.3f',
info('LPE_FLW_QMIN = %s, LPE_FLW_R = %.4f, LPE_FLW_RR = %.4f',
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_RR'))
elif est == 2:
fuse = get_param('EKF2_AID_MASK')
if not fuse & (1 << 1):
@@ -595,12 +593,11 @@ def check_optical_flow():
delay = get_param('EKF2_OF_DELAY')
if delay != 0:
failure('EKF2_OF_DELAY = %.2f, but it should be zero', delay)
info('EKF2_OF_QMIN = %s, EKF2_OF_N_MIN = %.4f, EKF2_OF_N_MAX = %.4f, SENS_FLOW_MINHGT = %.3f, SENS_FLOW_MAXHGT = %.3f',
info('EKF2_OF_QMIN = %s, EKF2_OF_N_MIN = %.4f, EKF2_OF_N_MAX = %.4f',
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_N_MAX'))
info('SENS_FLOW_MINHGT = %.3f, SENS_FLOW_MAXHGT = %.3f', get_param('SENS_FLOW_MINHGT'), get_param('SENS_FLOW_MAXHGT'))
except rospy.ROSException:
if rospy.get_param('optical_flow/disable_on_vpe', False):