From 89bfc150f3d0be8cfc47b935ccf34ed60a68c6ad Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Mon, 31 Oct 2022 02:41:21 +0600 Subject: [PATCH] selfcheck.py: split up estimator's and flow sensor's parameters reports --- clover/src/selfcheck.py | 13 +++++-------- 1 file changed, 5 insertions(+), 8 deletions(-) diff --git a/clover/src/selfcheck.py b/clover/src/selfcheck.py index 64100ea9..03cd8663 100755 --- a/clover/src/selfcheck.py +++ b/clover/src/selfcheck.py @@ -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):