PX4-Autopilot/docs/en/test_cards/mc_06_optical_flow.md

Test MC_06 - Optical Flow

Objective

Test that optical flow works as expected

Preflight

Disconnect all GPS / compasses and ensure vehicle is using optical flow for navigation (setup information here)

Ensure there are no other sources of positioning besides optical flow:

• EKF2_OF_CTRL: 1
• EKF2_GPS_CTRL: 0
• EKF2_EV_CTRL: 0

Ensure that the drone can go into Altitude / Position mode while still on the ground

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

❏ 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

Landing

❏ 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)

Expected Results

• Take-off should be smooth as throttle is raised
• 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
• No oscillations should present in any of the above flight modes
• Drone should not raise in height when flying over boxes
• Upon landing, copter should not bounce on the ground