Test MC_06 - Optical Flow
Objective
Test that optical flow works as expected
Preflight
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:
Ensure that the drone can go into Altitude / Position mode while still on the ground
Flight Tests
❏ Vertical position should hold current value with stick centered
❏ Pitch/Roll/Yaw response 1:1
❏ Throttle response set to climb/descent rate
❏ 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
❏ Varying height terrain
❏ Put boxes on the ground to create varying heights in terrain
❏ Take off in position mode and fly over the boxes such that the downward facing rangefinder varies in value
❏ Do a few passes with varying amounts of time over the boxes (1-30 seconds if possible)
❏ Drone should not raise in height when flying over boxes
착륙
❏ Land in either Position or Altitude mode with the throttle below 40%
❏ Upon touching ground, copter should disarm automatically within 2 seconds (default: see COM_DISARM_LAND)
예상 결과
- 추력을 올릴 때 서서히 이륙한다
- Drone should hold altitude in Altitude mode without wandering (over surface with many features)
- Drone should hold position within 1 meter in Position mode without pilot moving sticks
- 위에 언급한 어떤 비행 모드에서도 떨림이 나타나서는 안됨
- Drone should not raise in height when flying over boxes
- 지면에 착륙시, 콥터가 지면에서 튀면 안됨