# 测试 MC_02-完全自主 ## 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 ## 预期成果 - 当油门升高时，起飞应该是平稳的 - 任务应该在第一次尝试时上传 - 使用 Auto 时飞机应自动起飞 - Vehicle shoud adjust height to RTL altitude before returning home - 着陆时，直升机不应在地面上反弹