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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

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