2.0 KiB
测试 MC_03 - 自动手动混合
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)
预期成果
- 当油门升高时，起飞应该是平稳的
- 在上述任何飞行模式中都不应出现振荡
- When moving the control sticks the drone goes into Position flight mode
- 着陆时，直升机不应在地面上反弹