diff --git a/docs/ko/SUMMARY.md b/docs/ko/SUMMARY.md index d0a8f566c2..3d24afef3c 100644 --- a/docs/ko/SUMMARY.md +++ b/docs/ko/SUMMARY.md @@ -851,8 +851,10 @@ - [시험 MC_04 - 안전 장치 시험](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 - VIO (Inside)](test_cards/mc_07_vio.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) - [단위 테스트](test_and_ci/unit_tests.md) - [Fuzz Tests](test_and_ci/fuzz_tests.md) - [지속 통합](test_and_ci/continous_integration.md) diff --git a/docs/ko/concept/system_startup.md b/docs/ko/concept/system_startup.md index 79fd6cb79b..058b7577c7 100644 --- a/docs/ko/concept/system_startup.md +++ b/docs/ko/concept/system_startup.md @@ -1,7 +1,7 @@ # 시스템 시작 PX4 시작은 쉘 스크립트에 의해 제어됩니다. -On NuttX they reside in the [ROMFS/px4fmu_common/init.d](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d) folder - some of these are also used on Posix (Linux/MacOS). +On NuttX they reside in the [ROMFS/px4fmu_common/init.d](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d) folder - some of these are also used on Posix (Linux/macOS). The scripts that are only used on Posix are located in [ROMFS/px4fmu_common/init.d-posix](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d-posix). All files starting with a number and underscore (e.g. `10000_airplane`) are predefined airframe configurations. @@ -13,7 +13,7 @@ The first executed file is the [init.d/rcS](https://github.com/PX4/PX4-Autopilot 다음 섹션은 PX4가 실행되는 운영 체제에 따라 달라집니다. -## POSIX (Linux/MacOS) +## POSIX (Linux/macOS) On POSIX, the system shell is used as script interpreter (e.g. /bin/sh, being symlinked to dash on Ubuntu). 동작하기 위한 몇가지 조건이 있습니다. diff --git a/docs/ko/dev_log/ulog_file_format.md b/docs/ko/dev_log/ulog_file_format.md index 70e1ac0510..9e8a29b7e7 100644 --- a/docs/ko/dev_log/ulog_file_format.md +++ b/docs/ko/dev_log/ulog_file_format.md @@ -502,6 +502,7 @@ Since the Definitions and Data Sections use the same message header format, they - [ulogreader](https://github.com/maxsun/ulogreader): Javascript, ULog reader and parser outputs log in JSON object format. - [Foxglove](https://foxglove.dev): an integrated visualization and diagnosis tool for robotics data that supports ULog files. - [TypeScript ULog parser](https://github.com/foxglove/ulog): TypeScript, ULog reader that outputs JS objects. +- [yule_log](https://crates.io/crates/yule_log): A streaming ULog parser written in Rust. ## 파일 형식 버전 이력 diff --git a/docs/ko/dev_setup/dev_env.md b/docs/ko/dev_setup/dev_env.md index 427f28d302..9ed3e0cfd8 100644 --- a/docs/ko/dev_setup/dev_env.md +++ b/docs/ko/dev_setup/dev_env.md @@ -2,22 +2,22 @@ The _supported platforms_ for PX4 development are: -- [Ubuntu Linux (22.04/20.04/18.04)](../dev_setup/dev_env_linux_ubuntu.md) — Recommended +- [Ubuntu Linux (24.04/22.04)](../dev_setup/dev_env_linux_ubuntu.md) — Recommended - [Windows (10/11)](../dev_setup/dev_env_windows_wsl.md) — via WSL2 -- [Mac OS](../dev_setup/dev_env_mac.md) +- [macOS](../dev_setup/dev_env_mac.md) ## 지원 대상 아래 표는 각 OS에서 구축 가능한 PX 대상을 보여줍니다. -| 대상 | Linux (Ubuntu) | Mac | 윈도우 | -| ------------------------------------------------------------------------------------------------------------------------------------------------------ | :-------------------------------: | :-: | :-: | -| **NuttX based hardware:** [Pixhawk Series](../flight_controller/pixhawk_series.md), [Crazyflie](../complete_vehicles_mc/crazyflie2.md) | ✓ | ✓ | ✓ | -| **Linux-based hardware:** [Raspberry Pi 2/3](../flight_controller/raspberry_pi_navio2.md) | ✓ | | | -| **Simulation:** [Gazebo SITL](../sim_gazebo_gz/index.md) | ✓ | ✓ | ✓ | -| **Simulation:** [Gazebo Classic SITL](../sim_gazebo_classic/index.md) | ✓ | ✓ | ✓ | -| **Simulation:** [ROS with Gazebo Classic](../simulation/ros_interface.md) | ✓ | | ✓ | -| **Simulation:** ROS 2 with Gazebo | ✓ | | ✓ | +| 대상 | Linux (Ubuntu) | macOS | 윈도우 | +| ------------------------------------------------------------------------------------------------------------------------------------------------------ | :-------------------------------: | :---: | :-: | +| **NuttX based hardware:** [Pixhawk Series](../flight_controller/pixhawk_series.md), [Crazyflie](../complete_vehicles_mc/crazyflie2.md) | ✓ | ✓ | ✓ | +| **Linux-based hardware:** [Raspberry Pi 2/3](../flight_controller/raspberry_pi_navio2.md) | ✓ | | | +| **Simulation:** [Gazebo SITL](../sim_gazebo_gz/index.md) | ✓ | ✓ | ✓ | +| **Simulation:** [Gazebo Classic SITL](../sim_gazebo_classic/index.md) | ✓ | ✓ | ✓ | +| **Simulation:** [ROS with Gazebo Classic](../simulation/ros_interface.md) | ✓ | | ✓ | +| **Simulation:** ROS 2 with Gazebo | ✓ | | ✓ | Experienced Docker users can also build with the containers used by our continuous integration system: [Docker Containers](../test_and_ci/docker.md) diff --git a/docs/ko/dev_setup/dev_env_mac.md b/docs/ko/dev_setup/dev_env_mac.md index 5b31516462..63e8e3ca38 100644 --- a/docs/ko/dev_setup/dev_env_mac.md +++ b/docs/ko/dev_setup/dev_env_mac.md @@ -1,4 +1,4 @@ -# MacOS 개발 환경 +# macOS Development Environment 아래에서 macOS용 PX4 개발 환경 설정 방법을 설명합니다. PX4 빌드에 사용되어 집니다. @@ -22,8 +22,8 @@ The "base" macOS setup installs the tools needed for building firmware, and incl ### Environment Setup :::details -Apple Silicon Macbook users! -If you have an Apple M1, M2 etc. Macbook, make sure to run the terminal as x86 by setting up an x86 terminal: +Apple Silicon MacBook users! +If you have an Apple M1, M2 etc. MacBook, make sure to run the terminal as x86 by setting up an x86 terminal: 1. Locate the Terminal application within the Utilities folder (**Finder > Go menu > Utilities**) 2. Select _Terminal.app_ and right-click on it, then choose **Duplicate**. @@ -38,21 +38,21 @@ First set up the environment 1. Enable more open files by appending the following line to the `~/.zshenv` file (creating it if necessary): - ```sh - echo ulimit -S -n 2048 >> ~/.zshenv - ``` + ```sh + echo ulimit -S -n 2048 >> ~/.zshenv + ``` - ::: info - If you don't do this, the build toolchain may report the error: `"LD: too many open files"` + ::: info + If you don't do this, the build toolchain may report the error: `"LD: too many open files"` ::: 2. Enforce Python 3 by appending the following lines to `~/.zshenv` - ```sh - # Point pip3 to MacOS system python 3 pip - alias pip3=/usr/bin/pip3 - ``` + ```sh + # Point pip3 to macOS system python 3 pip + alias pip3=/usr/bin/pip3 + ``` ### 공통 도구 @@ -62,19 +62,19 @@ To setup the environment to be able to build for Pixhawk/NuttX hardware (and ins 2. Run these commands in your shell to install the common tools: - ```sh - brew tap PX4/px4 - brew install px4-dev - ``` + ```sh + brew tap PX4/px4 + brew install px4-dev + ``` 3. Install the required Python packages: - ```sh - # install required packages using pip3 - python3 -m pip install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging kconfiglib future jsonschema - # if this fails with a permissions error, your Python install is in a system path - use this command instead: - sudo -H python3 -m pip install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging kconfiglib future jsonschema - ``` + ```sh + # install required packages using pip3 + python3 -m pip install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging kconfiglib future jsonschema + # if this fails with a permissions error, your Python install is in a system path - use this command instead: + sudo -H python3 -m pip install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging kconfiglib future jsonschema + ``` ## Gazebo Classic Simulation @@ -82,35 +82,35 @@ To setup the environment for [Gazebo Classic](../sim_gazebo_classic/index.md) si 1. Run the following commands in your shell: - ```sh - brew unlink tbb - sed -i.bak '/disable! date:/s/^/ /; /disable! date:/s/./#/3' $(brew --prefix)/Library/Taps/homebrew/homebrew-core/Formula/tbb@2020.rb - brew install tbb@2020 - brew link tbb@2020 - ``` + ```sh + brew unlink tbb + sed -i.bak '/disable! date:/s/^/ /; /disable! date:/s/./#/3' $(brew --prefix)/Library/Taps/homebrew/homebrew-core/Formula/tbb@2020.rb + brew install tbb@2020 + brew link tbb@2020 + ``` - ::: info - September 2021: The commands above are a workaround to this bug: [PX4-Autopilot#17644](https://github.com/PX4/PX4-Autopilot/issues/17644). - They can be removed once it is fixed (along with this note). + ::: info + September 2021: The commands above are a workaround to this bug: [PX4-Autopilot#17644](https://github.com/PX4/PX4-Autopilot/issues/17644). + They can be removed once it is fixed (along with this note). ::: 2. To install SITL simulation with Gazebo Classic: - ```sh - brew install --cask temurin - brew install --cask xquartz - brew install px4-sim-gazebo - ``` + ```sh + brew install --cask temurin + brew install --cask xquartz + brew install px4-sim-gazebo + ``` 3. Run the macOS setup script: `PX4-Autopilot/Tools/setup/macos.sh` - The easiest way to do this is to clone the PX4 source, and then run the script from the directory, as shown: + The easiest way to do this is to clone the PX4 source, and then run the script from the directory, as shown: - ```sh - git clone https://github.com/PX4/PX4-Autopilot.git --recursive - cd PX4-Autopilot/Tools/setup - sh macos.sh - ``` + ```sh + git clone https://github.com/PX4/PX4-Autopilot.git --recursive + cd PX4-Autopilot/Tools/setup + sh macos.sh + ``` ## 다음 단계 diff --git a/docs/ko/test_and_ci/test_flights.md b/docs/ko/test_and_ci/test_flights.md index eabc3c3176..b0c65c3a6d 100644 --- a/docs/ko/test_and_ci/test_flights.md +++ b/docs/ko/test_and_ci/test_flights.md @@ -28,5 +28,7 @@ These are run by the test team as part of release testing, and for more signific - [MC_04 - Failsafe Testing](../test_cards/mc_04_failsafe_testing.md) - [MC_05 - Indoor Flight (Manual Modes)](../test_cards/mc_05_indoor_flight_manual_modes.md) - [MC_06 - Indoor Flight (Optical Flow)](../test_cards/mc_06_optical_flow.md) -- [MC_07 - VIO (Visual-Inertial Odometry)](../test_cards/mc_07_vio.md) +- [MC_07 - Optical Flow Low Mount](../test_cards/mc_07_optical_flow_low_mount.md) - [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) diff --git a/docs/ko/test_cards/mc_06_optical_flow.md b/docs/ko/test_cards/mc_06_optical_flow.md index 901e113218..9378bf2e4d 100644 --- a/docs/ko/test_cards/mc_06_optical_flow.md +++ b/docs/ko/test_cards/mc_06_optical_flow.md @@ -2,25 +2,23 @@ ## Objective -To test that optical flow works as expected +Test that optical flow works as expected ## Preflight -Disconnect all GPS / compasses and ensure vehicle is using optical flow for navigation -([Setup Information here](../sensor/optical_flow.md)) +Disconnect all GPS / compasses and ensure vehicle is using optical flow for navigation ([setup information here](../sensor/optical_flow.md)) -Ensure there are no other sources of positioning besides optical flow +Ensure there are no other sources of positioning besides optical flow: - [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `1` - [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `0` - [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `0` -- [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG): `0` -Ensure that the drone can go into Altitude / Position flight mode while still on the ground +Ensure that the drone can go into Altitude / Position mode while still on the ground ## Flight Tests -❏ Altitude flight mode +❏ [Altitude mode](../flight_modes_mc/altitude.md)     ❏ Vertical position should hold current value with stick centered @@ -28,7 +26,7 @@ Ensure that the drone can go into Altitude / Position flight mode while still on     ❏ Throttle response set to climb/descent rate -❏ Position flight mode +❏ [Position mode](../flight_modes_mc/position.md)     ❏ Horizontal position should hold current value with stick centered @@ -38,6 +36,16 @@ Ensure that the drone can go into Altitude / Position flight mode while still on     ❏ 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 + ## 착륙 ❏ Land in either Position or Altitude mode with the throttle below 40% @@ -47,7 +55,8 @@ Ensure that the drone can go into Altitude / Position flight mode while still on ## 예상 결과 - 추력을 올릴 때 서서히 이륙한다 -- Drone should hold altitude in Altitude Flight mode without wandering -- Drone should hold position within 1 meter in Position Flight mode without pilot moving sticks +- 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 - 위에 언급한 어떤 비행 모드에서도 떨림이 나타나서는 안됨 +- Drone should not raise in height when flying over boxes - 지면에 착륙시, 콥터가 지면에서 튀면 안됨 diff --git a/docs/ko/test_cards/mc_07_optical_flow_low_mount.md b/docs/ko/test_cards/mc_07_optical_flow_low_mount.md new file mode 100644 index 0000000000..5ac887e804 --- /dev/null +++ b/docs/ko/test_cards/mc_07_optical_flow_low_mount.md @@ -0,0 +1,45 @@ +# Test MC_07 - Optical Flow Low Sensor + +## Objective + +Test that optical flow works as expected with a low mounted optical flow sensor + +## Preflight + +Ensure that the drone's optical flow sensor is mounted more than an inch off of the ground + +Ensure that [MPC_THR_MIN](../advanced_config/parameter_reference.md#MPC_THR_MIN) is tuned correctly for landing + +Disconnect all GPS / compasses and ensure vehicle is using optical flow for navigation +([Setup Information here](../sensor/optical_flow.md)) + +Ensure there are no other sources of positioning besides optical flow + +- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `1` +- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `0` +- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `0` + +Ensure that the drone can go into [Position mode](../flight_modes_mc/position.md) while still on the ground + +## Flight Tests + +❏ [Position mode](../flight_modes_mc/position.md) + +    ❏ 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 + +## 착륙 + +❏ Land in Position mode with the throttle below 40% + +❏ Upon touching ground, copter should disarm automatically within 2 seconds (default: see [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND)) + +## 예상 결과 + +- 추력을 올릴 때 서서히 이륙한다 +- Drone should stay in Position mode, NOT fall into [altitude](../flight_modes_mc/altitude.md) mode diff --git a/docs/ko/test_cards/mc_08_dshot.md b/docs/ko/test_cards/mc_08_dshot.md index e5b7f8f073..0df821802b 100644 --- a/docs/ko/test_cards/mc_08_dshot.md +++ b/docs/ko/test_cards/mc_08_dshot.md @@ -6,22 +6,22 @@ Regression test for DSHOT working with PX4 ## Preflight -- Ensure vehicle is using a DSHOT ESC. +- Ensure vehicle is using a DSHOT ESC - Parameter [DSHOT_BIDIR_EN](../advanced_config/parameter_reference.md#DSHOT_BIDIR_EN) is enabled - Parameter [DSHOT_TEL_CFG](../advanced_config/parameter_reference.md#DSHOT_TEL_CFG) is configured (if ESC supports telemetry) - Parameter [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) has Debug (`5`) checked ## Flight Tests -❏ Stabilized Flight mode +❏ [Stabilized mode](../flight_modes_mc/manual_stabilized.md) -    ❏ Takeoff in stabilized flight mode to ensure correct motor spin +    ❏ Takeoff in stabilized mode to ensure correct motor spin     ❏ Pitch/Roll/Yaw response 1:1     ❏ Throttle response 1:1 -❏ Position flight mode +❏ [Position mode](../flight_modes_mc/position.md)     ❏ Horizontal position should hold current value with stick centered @@ -41,6 +41,6 @@ Regression test for DSHOT working with PX4 - Download flight logs - Load into Data Plot Juggler -- Ensure data is logged for esc_status/esc.0x/esc_rpm +- Ensure data is logged for `esc_status`/`esc.0x`/`esc_rpm` ![Reference frames](../../assets/test_cards/dshot_log_output.png) diff --git a/docs/ko/test_cards/mc_09_vio.md b/docs/ko/test_cards/mc_09_vio.md new file mode 100644 index 0000000000..966073fafd --- /dev/null +++ b/docs/ko/test_cards/mc_09_vio.md @@ -0,0 +1,52 @@ +# 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](../flight_modes_mc/altitude.md) / [Position](../flight_modes_mc/position.md) mode while still on the ground + +Ensure there are no other sources of positioning besides VIO: + +- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `0` +- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `0` +- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `15` +- [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG): `0` + +## Flight Tests + +❏ [Altitude mode](../flight_modes_mc/altitude.md) + +    ❏ Vertical position should hold current value with stick centered + +    ❏ Pitch/Roll/Yaw response 1:1 + +    ❏ Throttle response set to climb/descent rate + +❏ [Position mode](../flight_modes_mc/position.md) + +    ❏ 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 + +## 착륙 + +❏ 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](../advanced_config/parameter_reference.md#COM_DISARM_LAND)) + +## 예상 결과 + +- 추력을 올릴 때 서서히 이륙한다 +- Drone should hold altitude in Altitude mode without wandering +- Drone should hold position within 1 meter in Position mode without pilot moving sticks +- 위에 언급한 어떤 비행 모드에서도 떨림이 나타나서는 안됨 +- 지면에 착륙시, 콥터가 지면에서 튀면 안됨 diff --git a/docs/ko/test_cards/mc_10_optical_flow_gps_mixed.md b/docs/ko/test_cards/mc_10_optical_flow_gps_mixed.md new file mode 100644 index 0000000000..0f53829de9 --- /dev/null +++ b/docs/ko/test_cards/mc_10_optical_flow_gps_mixed.md @@ -0,0 +1,74 @@ +# Test MC_10 - Optical Flow / GPS Mixed + +## Objective + +Test that optical flow mixed with GPS works as expected + +## Preflight + +[Setup optical flow and GPS](../sensor/optical_flow.md) + +Ensure there are no other sources of positioning besides optical flow + +- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `1` +- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `7` +- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `0` +- [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG): `1` +- [EKF2_HGT_REF](../advanced_config/parameter_reference.md#EKF2_HGT_REF): `1` (GPS) + +Ensure that the drone can go into [Altitude](../flight_modes_mc/altitude.md) / [Position](../flight_modes_mc/position.md) mode while still on the ground + +## Flight Tests + +❏ [Altitude mode](../flight_modes_mc/altitude.md) + +    ❏ Vertical position should hold current value with stick centered + +    ❏ Pitch/Roll/Yaw response 1:1 + +    ❏ Throttle response set to climb/descent rate + +❏ [Position mode](../flight_modes_mc/position.md) + +    ❏ 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 + +❏ GPS Cutout + +    ❏ Takeoff in position mode in GPS rich environment (outdoors) + +    ❏ Open QGC and navigate to MAVLink Console + +    ❏ Type `gps off` to disable GPS + +    ❏ Drone should maintain position hold via optical flow + +❏ GPS Degredation + +    ❏ Takeoff in position mode in GPS rich environment (outdoors) + +    ❏ Fly under a metal surface (or other GPS blocking structure) + +    ❏ Ensure drone does not lose position hold or start drifting + +    ❏ Fly out of metal structure to regain GPS + +❏ GPS Acquisition + +    ❏ Takeoff in position mode in non-GPS environment + +    ❏ Fly into a GPS rich environment (outdoors) + +    ❏ Ensure drone acquires GPS position + +## 예상 결과 + +- 추력을 올릴 때 서서히 이륙한다 +- Drone should hold position within 1 meter in Position mode without pilot moving sticks +- Drone should hold position in GPS rich environment as well as non-GPS environment +- 위에 언급한 어떤 비행 모드에서도 떨림이 나타나서는 안됨