Automatic check

The RPi image contains a tool for automatic checking the correctness of all the settings and subsystems of the drone – selfcheck.py.

It is generally a good idea to perform this check before flight, especially before an autonomous one.

In order to run it, enter the following command in the Raspberry Pi console:

rosrun clover selfcheck.py

Description of some checks:

• FCU – checks for proper connection with the flight controller;
• IMU – checks whether the data from from IMU is sane;
• Local position – checks presence of local position data;
• Velocity estimation – checks whether drone velocity estimation is sane(autonomous flight is not to be performed if this check fails!);
• Global position (GPS) — checks for presence of global position data (GPS module is required for this check);
• Camera — checks for proper operation of the Raspberry camera.
• ArUco — checks whether ArUco detection is working
• VPE — checks whether VPE data is published.
• Rangefinder — checks whether rangefinder data is published.
• RPi health – checks the onboard computer status.
• CPU usage – checks the CPU load of the onboard computer.

Pay attention on the checks marked with WARN sign. If necessary, contact Copter Express technical support.