2.0 KiB
Test MC_07 - VIO (Visual-Inertial Odometry)
Objective
To 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 flight 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 flight mode
❏ Vertical position should hold current value with stick centered
❏ Pitch/Roll/Yaw response 1:1
❏ Throttle response set to climb/descent rate
❏ Position flight 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
Посадка
❏ 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)
Очікувані результати
- Зліт повинен бути плавним, коли газ піднято
- 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
- Немає коливання в жодному з перерахованих режимів польоту
- Після посадки, коптер не повинен підскакувати на землі