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selfcheck.py: skip battery check in simulation

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This commit is contained in:
Oleg Kalachev
2022-10-30 20:44:13 +06:00
parent 69d5d1e521
commit c907e6041a
1 changed files with 13 additions and 12 deletions
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25
clover/src/selfcheck.py
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@@ -256,18 +256,19 @@ def check_fcu():
if cbrk_usb_chk != 197848:
failure('set parameter CBRK_USB_CHK to 197848 for flying with USB connected')
try:
battery = rospy.wait_for_message('mavros/battery', BatteryState, timeout=3)
if not battery.cell_voltage:
failure('cell voltage is not available, https://clover.coex.tech/power')
else:
cell = battery.cell_voltage[0]
if cell > 4.3 or cell < 3.0:
failure('incorrect cell voltage: %.2f V, https://clover.coex.tech/power', cell)
elif cell < 3.7:
failure('critically low cell voltage: %.2f V, recharge battery', cell)
except rospy.ROSException:
failure('no battery state')
if not is_process_running('px4', exact=True): # skip battery check in SITL
try:
battery = rospy.wait_for_message('mavros/battery', BatteryState, timeout=3)
if not battery.cell_voltage:
failure('cell voltage is not available, https://clover.coex.tech/power')
else:
cell = battery.cell_voltage[0]
if cell > 4.3 or cell < 3.0:
failure('incorrect cell voltage: %.2f V, https://clover.coex.tech/power', cell)
elif cell < 3.7:
failure('critically low cell voltage: %.2f V, recharge battery', cell)
except rospy.ROSException:
failure('no battery state')
except rospy.ROSException:
failure('no MAVROS state (check wiring)')