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selfcheck.py: check VPE settings for EKF2

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This commit is contained in:
Oleg Kalachev
2019-03-17 00:36:12 +03:00
parent 4721f39c24
commit fbaece0f88
1 changed files with 11 additions and 2 deletions
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13
clever/src/selfcheck.py
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@@ -157,8 +157,17 @@ def check_vpe():
failure('LPE_VIS_DELAY parameter is %s, but it should be zero', delay)
rospy.loginfo('LPE_VIS_XY is %.2f m, LPE_VIS_Z is %.2f m', get_param('LPE_VIS_XY'), get_param('LPE_VIS_Z'))
elif est == 2:
# TODO
pass
fuse = get_param('EKF2_AID_MASK')
if not fuse & (1 << 3):
failure('vision position fusing is disabled, change EKF2_AID_MASK parameter')
if not fuse & (1 << 4):
failure('vision yaw fusing 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)
rospy.loginfo('EKF2_EVA_NOISE is %.3f, EKF2_EVP_NOISE is %.3f',
get_param('EKF2_EVA_NOISE'),
get_param('EKF2_EVP_NOISE'))
# check vision pose and estimated pose inconsistency
try: