# 시험 MC_02 - 완전 자동화 ## Objective To test the auto modes such as Mission, RTL, etc... ## Preflight Plan a mission on the ground. Ensure the mission has - Takeoff as first waypoint - Changes in Altitude throughout the mission - Last waypoint is an RTL - Duration of 5 to 6 minutes ## Flight Tests ❏ Mission     ❏ Auto take-off     ❏ Changes in Altitude throughout the mission     ❏ First waypoint set to Takeoff     ❏ Enable Mission End RTL     ❏ Duration of 5 to 6 minutes     ❏ Auto Disarm on land ❏ Mission + Manual arm     ❏ Arm in any manual mode     ❏ Engage Auto (Mission Mode) to trigger take-off     ❏ Observe tracking, cornering and proper RTL performance     ❏ Upon touching ground, copter should disarm automatically within 2 seconds (disarm time set by parameter: [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND)) ❏ RTL     ❏ Arm and takeoff in position mode     ❏ Fly out ~10m from start point     ❏ Engage RTL Mode     ❏ Observe tracking, cornering and proper RTL performance ## 예상 결과 - 추력을 올릴 때 서서히 이륙한다 - 첫 시도시 임무 내용이 올라가야 함 - 자동 모드 인가시 기체는 자동으로 이륙해야 함 - Vehicle shoud adjust height to RTL altitude before returning home - 지면에 착륙시, 콥터가 지면에서 튀면 안됨