From 6912ae7b142d13691d2ea1ad36791a2b68f513af Mon Sep 17 00:00:00 2001 From: Andrew Wilkins Date: Sun, 5 Apr 2026 05:34:22 -0500 Subject: [PATCH] feat(test): fixed wing test cards (#26824) --- docs/en/SUMMARY.md | 24 ++++---- docs/en/_sidebar.md | 24 ++++---- docs/en/test_and_ci/test_flights.md | 7 +++ docs/en/test_cards/fw_01_manual_modes.md | 46 +++++++++++++++ docs/en/test_cards/fw_02_full_autonomous.md | 64 +++++++++++++++++++++ 5 files changed, 145 insertions(+), 20 deletions(-) create mode 100644 docs/en/test_cards/fw_01_manual_modes.md create mode 100644 docs/en/test_cards/fw_02_full_autonomous.md diff --git a/docs/en/SUMMARY.md b/docs/en/SUMMARY.md index 8ca7ef1677..e76b33dafc 100644 --- a/docs/en/SUMMARY.md +++ b/docs/en/SUMMARY.md @@ -860,16 +860,20 @@ - [Multi-vehicle simulation](simulation/multi-vehicle-simulation.md) - [Platform Testing and CI](test_and_ci/index.md) - [Test Flights](test_and_ci/test_flights.md) - - [Test MC_01 - Manual Modes](test_cards/mc_01_manual_modes.md) - - [Test MC_02 - Full Autonomous](test_cards/mc_02_full_autonomous.md) - - [Test MC_03 - Auto Manual Mix](test_cards/mc_03_auto_manual_mix.md) - - [Test MC_04 - Failsafe Testing](test_cards/mc_04_failsafe_testing.md) - - [Test MC_05 - Manual Modes (Inside)](test_cards/mc_05_indoor_flight_manual_modes.md) - - [Test MC_06 - Optical Flow (Inside)](test_cards/mc_06_optical_flow.md) - - [Test MC_07 - Optical Flow Low Mount](test_cards/mc_07_optical_flow_low_mount.md) - - [Test MC_08 - DSHOT ESC](test_cards/mc_08_dshot.md) - - [Test MC_09 - VIO (Visual-Inertial Odometry)](test_cards/mc_09_vio.md) - - [Test MC_10 - Optical Flow / GPS Mixed](test_cards/mc_10_optical_flow_gps_mixed.md) + - [Multicopter](test_and_ci/test_flights.md#multicopter) + - [Test MC_01 - Manual Modes](test_cards/mc_01_manual_modes.md) + - [Test MC_02 - Full Autonomous](test_cards/mc_02_full_autonomous.md) + - [Test MC_03 - Auto Manual Mix](test_cards/mc_03_auto_manual_mix.md) + - [Test MC_04 - Failsafe Testing](test_cards/mc_04_failsafe_testing.md) + - [Test MC_05 - Manual Modes (Inside)](test_cards/mc_05_indoor_flight_manual_modes.md) + - [Test MC_06 - Optical Flow (Inside)](test_cards/mc_06_optical_flow.md) + - [Test MC_07 - Optical Flow Low Mount](test_cards/mc_07_optical_flow_low_mount.md) + - [Test MC_08 - DSHOT ESC](test_cards/mc_08_dshot.md) + - [Test MC_09 - VIO (Visual-Inertial Odometry)](test_cards/mc_09_vio.md) + - [Test MC_10 - Optical Flow / GPS Mixed](test_cards/mc_10_optical_flow_gps_mixed.md) + - [Fixed Wing](test_and_ci/test_flights.md#fixed-wing) + - [Test FW_01 - Manual Modes](test_cards/fw_01_manual_modes.md) + - [Test FW_02 - Full Autonomous](test_cards/fw_02_full_autonomous.md) - [Unit Tests](test_and_ci/unit_tests.md) - [Fuzz Tests](test_and_ci/fuzz_tests.md) - [Continuous Integration](test_and_ci/continous_integration.md) diff --git a/docs/en/_sidebar.md b/docs/en/_sidebar.md index 7b3742d1a4..9ac1ba0ff5 100644 --- a/docs/en/_sidebar.md +++ b/docs/en/_sidebar.md @@ -851,16 +851,20 @@ - [Multi-vehicle simulation](/simulation/multi-vehicle-simulation.md) - [Platform Testing and CI](/test_and_ci/index.md) - [Test Flights](/test_and_ci/test_flights.md) - - [Test MC_01 - Manual Modes](/test_cards/mc_01_manual_modes.md) - - [Test MC_02 - Full Autonomous](/test_cards/mc_02_full_autonomous.md) - - [Test MC_03 - Auto Manual Mix](/test_cards/mc_03_auto_manual_mix.md) - - [Test MC_04 - Failsafe Testing](/test_cards/mc_04_failsafe_testing.md) - - [Test MC_05 - Manual Modes (Inside)](/test_cards/mc_05_indoor_flight_manual_modes.md) - - [Test MC_06 - Optical Flow (Inside)](/test_cards/mc_06_optical_flow.md) - - [Test MC_07 - Optical Flow Low Mount](/test_cards/mc_07_optical_flow_low_mount.md) - - [Test MC_08 - DSHOT ESC](/test_cards/mc_08_dshot.md) - - [Test MC_09 - VIO (Visual-Inertial Odometry)](/test_cards/mc_09_vio.md) - - [Test MC_10 - Optical Flow / GPS Mixed](/test_cards/mc_10_optical_flow_gps_mixed.md) + - [Multicopter](/test_and_ci/test_flights.md#multicopter) + - [Test MC_01 - Manual Modes](/test_cards/mc_01_manual_modes.md) + - [Test MC_02 - Full Autonomous](/test_cards/mc_02_full_autonomous.md) + - [Test MC_03 - Auto Manual Mix](/test_cards/mc_03_auto_manual_mix.md) + - [Test MC_04 - Failsafe Testing](/test_cards/mc_04_failsafe_testing.md) + - [Test MC_05 - Manual Modes (Inside)](/test_cards/mc_05_indoor_flight_manual_modes.md) + - [Test MC_06 - Optical Flow (Inside)](/test_cards/mc_06_optical_flow.md) + - [Test MC_07 - Optical Flow Low Mount](/test_cards/mc_07_optical_flow_low_mount.md) + - [Test MC_08 - DSHOT ESC](/test_cards/mc_08_dshot.md) + - [Test MC_09 - VIO (Visual-Inertial Odometry)](/test_cards/mc_09_vio.md) + - [Test MC_10 - Optical Flow / GPS Mixed](/test_cards/mc_10_optical_flow_gps_mixed.md) + - [Fixed Wing](/test_and_ci/test_flights.md#fixed-wing) + - [Test FW_01 - Manual Modes](/test_cards/fw_01_manual_modes.md) + - [Test FW_02 - Full Autonomous](/test_cards/fw_02_full_autonomous.md) - [Unit Tests](/test_and_ci/unit_tests.md) - [Fuzz Tests](/test_and_ci/fuzz_tests.md) - [Continuous Integration](/test_and_ci/continous_integration.md) diff --git a/docs/en/test_and_ci/test_flights.md b/docs/en/test_and_ci/test_flights.md index d23f42988f..ffccd7f6d1 100644 --- a/docs/en/test_and_ci/test_flights.md +++ b/docs/en/test_and_ci/test_flights.md @@ -22,6 +22,8 @@ For significant changes to the system you should also run general flight tests u These test cards define "standard" flight tests. These are run by the test team as part of release testing, and for more significant system changes. +### Multicopter + - [MC_01 - Manual modes](../test_cards/mc_01_manual_modes.md) - [MC_02 - Full Autonomous](../test_cards/mc_02_full_autonomous.md) - [MC_03 - Auto Manual Mix](../test_cards/mc_03_auto_manual_mix.md) @@ -32,3 +34,8 @@ These are run by the test team as part of release testing, and for more signific - [MC_08 - DSHOT ESC](../test_cards/mc_08_dshot.md) - [MC_09 - VIO (Visual-Inertial Odometry)](../test_cards/mc_09_vio.md) - [MC_10 - Optical Flow / GPS Mixed](../test_cards/mc_10_optical_flow_gps_mixed.md) + +### Fixed Wing + +- [FW_01 - Manual Modes](../test_cards/fw_01_manual_modes.md) +- [FW_02 - Full Autonomous](../test_cards/fw_02_full_autonomous.md) diff --git a/docs/en/test_cards/fw_01_manual_modes.md b/docs/en/test_cards/fw_01_manual_modes.md new file mode 100644 index 0000000000..78d8be34a2 --- /dev/null +++ b/docs/en/test_cards/fw_01_manual_modes.md @@ -0,0 +1,46 @@ +# Test FW_01 - Manual Modes + +## Objective + +To test that manual flight modes work as expected for fixed wing vehicles. + +## Preflight + +Ensure that the vehicle can go into Stabilized, Altitude, and Position mode while still on the ground. + +## Flight Tests + +❏ Stabilized + +    ❏ Wings level with stick centered + +    ❏ Pitch/Roll response with correct bank angle limits + +    ❏ Yaw coordination + +    ❏ Throttle response 1:1 + +❏ Altitude + +    ❏ Altitude should hold current value with stick centered + +    ❏ Pitch input controls climb/descend rate + +    ❏ Throttle automatically managed to maintain airspeed + +    ❏ Roll/Yaw respond correctly to stick movement + +❏ Position + +    ❏ Vehicle should hold current heading and loiter with stick centered + +    ❏ Altitude should hold current value + +    ❏ Roll input commands heading change + +## Expected Results + +- Takeoff should be smooth (hand launch or runway) +- No oscillations should be present in any of the above flight modes +- Vehicle should maintain stable flight throughout all mode transitions +- Landing approach should be stable and controllable diff --git a/docs/en/test_cards/fw_02_full_autonomous.md b/docs/en/test_cards/fw_02_full_autonomous.md new file mode 100644 index 0000000000..c8405bd03d --- /dev/null +++ b/docs/en/test_cards/fw_02_full_autonomous.md @@ -0,0 +1,64 @@ +# Test FW_02 - Full Autonomous + +## Objective + +To test the auto modes such as Mission, Takeoff, Hold, and RTL for fixed wing vehicles. + +## 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 1 to 2 minutes + +## Flight Tests + +❏ Takeoff + +    ❏ Engage Takeoff mode (hand launch or runway) + +    ❏ Vehicle should climb to takeoff altitude + +    ❏ Vehicle should hold/loiter after reaching takeoff altitude + +❏ Mission + +    ❏ Auto takeoff (hand launch or runway) + +    ❏ Verify changes in altitude throughout the mission + +    ❏ Verify Mission Ends in RTL + +    ❏ Duration of 1 to 2 minutes + +    ❏ Auto land or hold at end + +❏ Hold + +    ❏ Engage Hold mode during flight + +    ❏ Vehicle should orbit at current position and altitude + +    ❏ Orbit radius and direction should match parameters + +❏ RTL + +    ❏ Arm and takeoff in any manual mode + +    ❏ Fly out ~200m from start point + +    ❏ Engage Return mode + +    ❏ Vehicle should climb to RTL altitude if below it + +    ❏ Vehicle should return to home and hold or land + +## Expected Results + +- Mission should upload on first attempt +- Vehicle should automatically takeoff upon engaging Auto +- Waypoint tracking should be smooth with appropriate turn radius +- Vehicle should adjust height to RTL altitude before returning home +- Landing approach should be stable (if auto-land is configured)