测试 MC_02-完全自主

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

预期成果

• 当油门升高时，起飞应该是平稳的
• 任务应该在第一次尝试时上传
• 使用 Auto 时飞机应自动起飞
• Vehicle shoud adjust height to RTL altitude before returning home
• 着陆时，直升机不应在地面上反弹