Test MC_10 - Optical Flow / GPS Mixed

Objective

Test that optical flow mixed with GPS works as expected

Preflight

Setup optical flow and GPS

Ensure there are no other sources of positioning besides optical flow

• EKF2_OF_CTRL: 1
• EKF2_GPS_CTRL: 7
• EKF2_EV_CTRL: 0
• SYS_HAS_MAG: 1
• EKF2_HGT_REF: 1 (GPS)

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

Flight Tests

❏ Altitude mode

    ❏ Vertical position should hold current value with stick centered

    ❏ Pitch/Roll/Yaw response 1:1

    ❏ Throttle response set to climb/descent rate

❏ 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

❏ GPS Cutout

    ❏ Takeoff in position mode in GPS rich environment (outdoors)

    ❏ Open QGC and navigate to MAVLink Console

    ❏ Type gps stop to disable GPS

    ❏ Drone should maintain position hold via optical flow

❏ GPS Degradation

    ❏ Takeoff in position mode in GPS rich environment (outdoors)

    ❏ Fly under a metal surface (or other GPS blocking structure)

    ❏ Ensure drone does not lose position hold or start drifting

    ❏ Fly out of metal structure to regain GPS

❏ GPS Acquisition

    ❏ Takeoff in position mode in non-GPS environment

    ❏ Fly into a GPS rich environment (outdoors)

    ❏ Ensure drone acquires GPS position

Expected Results

• Take-off should be smooth as throttle is raised
• Drone should hold position within 1 meter in Position mode without pilot moving sticks
• Drone should hold position in GPS rich environment as well as non-GPS environment
• No oscillations should present in any of the above flight modes