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33 lines
1.2 KiB
Markdown
33 lines
1.2 KiB
Markdown
# Automatic check
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Before flying (especially autonomous), you can use several methods of automatic self-testing of the quadcopter subsystems.
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## <span>selfcheck</span>.py
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Utility `selfcheck.py` is part of `clever` package, and automatically tests the main aspects of the ROS platform and the PX4. The utility is pre-installed on [the Raspberry Pi image](microsd_images.md).
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To initiate it, type in [the Raspberry Pi console](ssh.md):
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```(bash)
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rosrun clever selfcheck.py
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```
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<img src="../assets/selfcheck.png">
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Description of some checks:
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* FCU – checking proper connection with the flight controller;
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* IMU – checking correctness of the data from IMU;
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* Local position – presence of the local position of the drone;
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* Velocity estimation – drone velocity estimation (**if this check fails, never take off offline!**);
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* Global position (GPS) — presence of the global position (GPS required);
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* Camera — proper operation of the Raspberry camera.
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## commander check
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To check the main sub systems of PX4 and the possibility of arming at the moment, you can perform command `commander check` in the MAVLink console.
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<img src="../assets/commander-check.png">
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When using SITL instead of the MAVLink console, use a terminal with SITL running.
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