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53 lines
2.0 KiB
Markdown
53 lines
2.0 KiB
Markdown
# Test MC_09 - VIO (Visual-Inertial Odometry)
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## Objective
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Test that external vision (VIO) works as expected
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## Preflight
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Disconnect all GPS / compasses and ensure vehicle is using VIO for navigation
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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
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Ensure there are no other sources of positioning besides VIO:
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- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `0`
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- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `0`
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- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `15`
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- [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG): `0`
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## Flight Tests
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❏ [Altitude mode](../flight_modes_mc/altitude.md)
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❏ Vertical position should hold current value with stick centered
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❏ Pitch/Roll/Yaw response 1:1
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❏ Throttle response set to climb/descent rate
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❏ [Position mode](../flight_modes_mc/position.md)
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❏ Horizontal position should hold current value with stick centered
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❏ Vertical position should hold current value with stick centered
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❏ Throttle response set to climb/descent rate
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❏ Pitch/Roll/Yaw response set to pitch/roll/yaw rates
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## 降落
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❏ Land in either Position or Altitude mode with the throttle below 40%
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❏ Upon touching ground, copter should disarm automatically within 2 seconds (default: see [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND))
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## 预期成果
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- 当油门升高时，起飞应该是平稳的
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- Drone should hold altitude in Altitude mode without wandering
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- Drone should hold position within 1 meter in Position mode without pilot moving sticks
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- 在上述任何飞行模式中都不应出现振荡
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- 着陆时，直升机不应在地面上反弹
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