Test MC_07 - Optical Flow Low Sensor

Objective

Test that optical flow works as expected with a low mounted optical flow sensor

Preflight

Ensure that the drone's optical flow sensor is mounted more than an inch off of the ground

Ensure that MPC_THR_MIN is tuned correctly for landing

Disconnect all GPS / compasses and ensure vehicle is using optical flow for navigation (Setup Information here)

Ensure there are no other sources of positioning besides optical flow

• EKF2_OF_CTRL: 1
• EKF2_GPS_CTRL: 0
• EKF2_EV_CTRL: 0

Ensure that the drone can go into Position mode while still on the ground

Flight Tests

❏ Position mode

    ❏ Horizontal position should hold current value with stick centered

    ❏ Vertical position should hold current value with stick centered

    ❏ Throttle response set to climb/descent rate

    ❏ Pitch/Roll/Yaw response set to pitch/roll/yaw rates

Landing

❏ Land in Position mode with the throttle below 40%

❏ Upon touching ground, copter should disarm automatically within 2 seconds (default: see COM_DISARM_LAND)

Expected Results

• Take-off should be smooth as throttle is raised
• Drone should stay in Position mode, NOT fall into altitude mode