Verification Checks

Freyja performs only a minimal set of checks, and is, by design, very silent on the terminal. The following checks may be performed manually or automatically by another node that you write.

1. /current_state must be published and updated at a high rate.
   The rate depends on the source, and usually matches that of the source. Also verify that the last element in the state_vector, current_state/state_vector[12] is steady. This measures the inter-message interval (dt).

2. /reference_state must be published at the required rate.
   Your node (or waypoint_handler) publishes this topic. Please ensure that this is topic is updated at the expected rate.

3. /rpyt_command is produced at an expected rate, with expected values.
   This is the output of the controller node. If current_state and reference_state topics have been updated at least once, this topic will contain some values all the time. The values may be invalid if current_state has not been updated for a preset amount of time (250ms). Check /controller_debug topic to see if these values are considered invalid. There is no requirement on the frequency of updating reference_state -- the reference is latched in the controller.