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* updated test cards for optical flow flights * Update docs/en/test_cards/mc_07_optical_flow_failure.md Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> * updated docs * fixed mis-type in url * subedit * Update docs/en/test_cards/mc_06_optical_flow.md Co-authored-by: Hamish Willee <hamishwillee@gmail.com> * updated test card * changes to file name and some instructions --------- Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
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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 / Position 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
❏ Vertical position should hold current value with stick centered
❏ Pitch/Roll/Yaw response 1:1
❏ Throttle response set to climb/descent rate
❏ 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
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
- 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
- Upon landing, copter should not bounce on the ground