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:

• EKF2_OF_CTRL: 0
• EKF2_GPS_CTRL: 0
• EKF2_EV_CTRL: 15
• SYS_HAS_MAG: 0

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

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
• 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
• 着陆时，直升机不应在地面上反弹