mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-07-24 15:27:41 +08:00
60dd343152
* 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>
53 lines
2.0 KiB
Markdown
53 lines
2.0 KiB
Markdown
# 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](../flight_modes_mc/altitude.md) / [Position](../flight_modes_mc/position.md) mode while still on the ground
|
|
|
|
Ensure there are no other sources of positioning besides VIO:
|
|
|
|
- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `0`
|
|
- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `0`
|
|
- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `15`
|
|
- [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG): `0`
|
|
|
|
## Flight Tests
|
|
|
|
❏ [Altitude mode](../flight_modes_mc/altitude.md)
|
|
|
|
❏ Vertical position should hold current value with stick centered
|
|
|
|
❏ Pitch/Roll/Yaw response 1:1
|
|
|
|
❏ Throttle response set to climb/descent rate
|
|
|
|
❏ [Position mode](../flight_modes_mc/position.md)
|
|
|
|
❏ 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](../advanced_config/parameter_reference.md#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
|