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selfcheck.py: "fusing" -> "fusion" in warnings

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This commit is contained in:
Oleg Kalachev
2019-05-11 14:04:03 +03:00
parent d2912aebd8
commit cabe76a607
1 changed files with 5 additions and 5 deletions
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10
clever/src/selfcheck.py
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@@ -163,7 +163,7 @@ def check_vpe():
rospy.loginfo('Vision yaw weight: %.2f', vision_yaw_w)
fuse = get_param('LPE_FUSION')
if not fuse & (1 << 2):
failure('vision position fusing is disabled, change LPE_FUSION parameter')
failure('vision position fusion is disabled, change LPE_FUSION parameter')
delay = get_param('LPE_VIS_DELAY')
if delay != 0:
failure('LPE_VIS_DELAY parameter is %s, but it should be zero', delay)
@@ -171,9 +171,9 @@ def check_vpe():
elif est == 2:
fuse = get_param('EKF2_AID_MASK')
if not fuse & (1 << 3):
failure('vision position fusing is disabled, change EKF2_AID_MASK parameter')
failure('vision position fusion is disabled, change EKF2_AID_MASK parameter')
if not fuse & (1 << 4):
failure('vision yaw fusing is disabled, change EKF2_AID_MASK parameter')
failure('vision yaw fusion is disabled, change EKF2_AID_MASK parameter')
delay = get_param('EKF2_EV_DELAY')
if delay != 0:
failure('EKF2_EV_DELAY is %.2f, but it should be zero', delay)
@@ -289,7 +289,7 @@ def check_optical_flow():
if est == 1:
fuse = get_param('LPE_FUSION')
if not fuse & (1 << 1):
failure('optical flow fusing is disabled, change LPE_FUSION parameter')
failure('optical flow fusion is disabled, change LPE_FUSION parameter')
if not fuse & (1 << 1):
failure('flow gyro compensation is disabled, change LPE_FUSION parameter')
scale = get_param('LPE_FLW_SCALE')
@@ -305,7 +305,7 @@ def check_optical_flow():
elif est == 2:
fuse = get_param('EKF2_AID_MASK')
if not fuse & (1 << 1):
failure('optical flow fusing is disabled, change EKF2_AID_MASK parameter')
failure('optical flow fusion is disabled, change EKF2_AID_MASK parameter')
delay = get_param('EKF2_OF_DELAY')
if delay != 0:
failure('EKF2_OF_DELAY is %.2f, but it should be zero', delay)