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Test MC_09 - VIO (Visual-Inertial Odometry)

Objective

Test that external vision (VIO) works as expected

Preflight

Disconnect all GPS / compasses and ensure vehicle is using VIO for navigation

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

Ensure there are no other sources of positioning besides VIO:

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

Посадка

❏ 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)

Очікувані результати

  • Зліт повинен бути плавним, коли газ піднято
  • Drone should hold altitude in Altitude mode without wandering
  • Drone should hold position within 1 meter in Position mode without pilot moving sticks
  • Немає коливання в жодному з перерахованих режимів польоту
  • Після посадки, коптер не повинен підскакувати на землі