# Тест MC_03 - поєднання автоматичного і ручного керування

## Objective

To test switching between various modes

## Preflight

- Takeoff as first waypoint
- Changes in Altitude throughout the mission
- Last waypoint is a NOT RTL, but a normal waypoint
- Duration of 5 to 6 minutes

## Flight Tests

❏ Position + Mission

    ❏ Arm and take-off in Position mode

    ❏ Engage Auto

    ❏ Observe tracking and cornering

    ❏ Once mission has completed, switch back to Position mode

        ❏ Horizontal position should hold current value with stick centered

        ❏ Vertical position should hold current value with stick centered

        ❏ Throttle response set to Climbs/Descend rate

        ❏ Pitch/Roll/Yaw response set to Pitch/Roll/Yaw rates

    ❏ Engage RTL

    ❏ Upon touching ground, copter should disarm automatically within 2 seconds (disarm time set by parameter: COM_DISARM_LAND)

❏ Mission + Controller interruption

    ❏ Arm and take-off in Position mode

    ❏ Engage Auto

    ❏ Observe tracking and cornering

    ❏ Before the last waypoint mission is reached, move the control sticks and ensure the vehicle goes into Position flight mode

    ❏ Manually move the drone over the landing zone

    ❏ Engage Land mode

    ❏ Upon touching ground, copter should disarm automatically within 2 seconds (disarm time set by parameter: COM_DISARM_LAND)

## Очікувані результати

- Зліт повинен бути плавним, коли газ піднято
- Немає коливання в жодному з перерахованих режимів польоту
- When moving the control sticks the drone goes into Position flight mode
- Після посадки, коптер не повинен підскакувати на землі