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selfcheck.py: fix velocity check

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This commit is contained in:
Oleg Kalachev
2019-09-27 00:39:24 +03:00
parent 68fc2fee1a
commit a6bdedbfc1
1 changed files with 2 additions and 1 deletions
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3
clever/src/selfcheck.py
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@@ -477,7 +477,7 @@ def check_local_position():
@check('Velocity estimation')
def check_velocity():
try:
velocity = rospy.wait_for_message('mavros/local_position/velocity', TwistStamped, timeout=1)
velocity = rospy.wait_for_message('mavros/local_position/velocity_local', TwistStamped, timeout=1)
horiz = math.hypot(velocity.twist.linear.x, velocity.twist.linear.y)
vert = velocity.twist.linear.z
if abs(horiz) > 0.1:
@@ -485,6 +485,7 @@ def check_velocity():
if abs(vert) > 0.1:
failure('vertical velocity estimation is %.2f m/s; is copter staying still?' % vert)
velocity = rospy.wait_for_message('mavros/local_position/velocity_body', TwistStamped, timeout=1)
angular = velocity.twist.angular
ANGULAR_VELOCITY_LIMIT = 0.1
if abs(angular.x) > ANGULAR_VELOCITY_LIMIT: