시험 MC_02 - 완전 자동화

Objective

To test the auto modes such as Mission, RTL, etc...

Preflight

Plan a mission on the ground. Ensure the mission has

• Takeoff as first waypoint
• Changes in Altitude throughout the mission
• Last waypoint is an RTL
• Duration of 5 to 6 minutes

Flight Tests

❏ Mission

    ❏ Auto take-off

    ❏ Changes in Altitude throughout the mission

    ❏ First waypoint set to Takeoff

    ❏ Enable Mission End RTL

    ❏ Duration of 5 to 6 minutes

    ❏ Auto Disarm on land

❏ Mission + Manual arm

    ❏ Arm in any manual mode

    ❏ Engage Auto (Mission Mode) to trigger take-off

    ❏ Observe tracking, cornering and proper RTL performance

    ❏ Upon touching ground, copter should disarm automatically within 2 seconds (disarm time set by parameter: COM_DISARM_LAND)

❏ RTL

    ❏ Arm and takeoff in position mode

    ❏ Fly out ~10m from start point

    ❏ Engage RTL Mode

    ❏ Observe tracking, cornering and proper RTL performance

예상 결과

• 추력을 올릴 때 서서히 이륙한다
• 첫 시도시 임무 내용이 올라가야 함
• 자동 모드 인가시 기체는 자동으로 이륙해야 함
• Vehicle shoud adjust height to RTL altitude before returning home
• 지면에 착륙시, 콥터가 지면에서 튀면 안됨