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36 lines
1.6 KiB
Markdown
36 lines
1.6 KiB
Markdown
# Automatic check
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It is generally a good idea to perform some checks before flight, especially before an autonomous one. There are several methods of automated self-checks of the drone subsystems.
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## <span>selfcheck</span>.py
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The `selfcheck.py` utility script is part of the `clever` package; it performs automated tests of the main aspects of the ROS platform and PX4. The utility is pre-installed on [the Raspberry Pi image](microsd_images.md).
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In order to run it, enter the following command 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 – checks for proper connection with the flight controller;
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* IMU – checks whether the data from from IMU is sane;
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* Local position – checks presence of local position data;
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* Velocity estimation – checks whether drone velocity estimation is sane(**autonomous flight is not to be performed if this check fails!**);
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* Global position (GPS) — checks for presence of global position data (GPS module is required for this check);
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* Camera — checks for proper operation of the Raspberry camera.
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* ArUco — checks whether [ArUco](aruco.md) detection is working
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* VPE — checks whether VPE data is published
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* Rangefinder — checks whether [rangefinder](laser.md) data is published
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## commander check
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In order check the main subsystems of PX4 and the possibility of arming at the moment you can run the `commander check` command in the MAVLink console.
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<img src="../assets/commander-check.png">
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If you're running SITL, you should use the terminal where PX4 simulation is running instead of the MAVLink console.
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