Test MC_06 - Optical Flow
Objective
To 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
- EKF2_OF_CTRL:
1
- EKF2_GPS_CTRL:
0
- EKF2_EV_CTRL:
0
- SYS_HAS_MAG:
0
Ensure that the drone can go into Altitude / Position flight mode while still on the ground
Flight Tests
❏ Altitude flight mode
❏ Vertical position should hold current value with stick centered
❏ Pitch/Roll/Yaw response 1:1
❏ Throttle response set to climb/descent rate
❏ Position flight 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
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 Flight mode without wandering
- Drone should hold position within 1 meter in Position Flight mode without pilot moving sticks
- 위에 언급한 어떤 비행 모드에서도 떨림이 나타나서는 안됨
- 지면에 착륙시, 콥터가 지면에서 튀면 안됨