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
降落
❏ 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)
预期成果
- 当油门升高时，起飞应该是平稳的
- 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
- 在上述任何飞行模式中都不应出现振荡
- Drone should not raise in height when flying over boxes
- 着陆时，直升机不应在地面上反弹