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Test #1: Opflow calibration

Procedure

Goals / Objectives

Knockoff criteria

1. Inflow calibration setup

   1. Set RC6_OPTION = 158 (Optflow Calibration)

   2. Setup the EKF3 to use GPS (the default)•

      1. EK3_SRC1_POSXY = 3 (GPS)

      •

      1. EK3_SRC1_POSZ = 1 (Baro)

      2. EK3_SRC1_VELXY = 3 (GPS)

      3. EK3_SRC1_VELZ = 3 (GPS)

      •

      1. EK3_SRC1_YAW = 1 (Compass)

      •

      1. EK3_SRC_OPTIONS = 0 (Disable FuseAlIVelocities)

• Obtain images of <x>

• Verify colour calibration

• < anything else you’re evaluating >

< list of reasons why you would want to stop the test >

2. Setup GPS/Non-GPS transitions (to switch between GPS and Optical Flow inflight)

SET UP AND PERFORM BENCH TEST BEFORE LEAVING BAY?

1. Ensure EKF3 is being used

   1. EK3_ENABLE = 1
      EK2_ENABLE = 0
      AHRS_EKF_TYPE = 3

2. Ensure default setup

   1. EK3_SRC1_POSXY = 3 (Primary horizontal position from GPS)

   2. EK3_SRC1_VELXY = 3 (Primary horizontal velocity from GPS)

   3. EK3_SRC1_POSZ = 1 (Primary vertical position from barometer)

   4. EK3_SRC1_VELZ = 3 (Primary vertical velocity from GPS)

   5. EK3_SRC1_YAW = 1 (Primary yaw/heading from compass)

   6. SECONDARY SENSOR SOURCE????

   7. EK3_SRC2_ POSXY = 6 (Secondary horizontal position from External Nav)

   8. EK3_SRC2_VELXY = 6 (Secondary horizontal velocity from External Nav)

   9. EK3_SRC2_POSZ = 1 (Secondary vertical position from barometer)

   10. EK3_SRC2_VELZ = 6 (Secondary vertical velocity from External Nav)

   11. EK3_SRC2_YAW = 6 (Secondary yaw/heading from External Nav)

   12. Ensure the fusing of all velocities are disabled by unchecking the EK3_SRC_OPTIONS parameter's "FuseAlIVelocities" bit:

3. BENCH TEST (use the auxiliary switch to manually switch between sources)

   1. Connect with a ground station

   2. After switching modes, confirm status via Data Screen messages tab → should be a message

   3. Wait 10 seconds to confirm that EKF stays healthy

      1. EKF label on the HUD should remain white in Mission Planner

   4. Check the vehicle's horizontal position, altitude and heading using the ground station. (what to look for?)

3. Hover in Loiter mode (>10m)

< etc >

4. Begin opflow calibration

   1. Pull the auxiliary switch high to start the calibration

   2. Rock the vehicle back and forth in both roll and pitch

• Check the GCS "Messages" tab for output confirming the calibration is complete

• FLOW_FXSCALAR and FLOW_FYSCALAR values between -200 to +200 is good

  • Code Block
    FlowCal: Started FlowCal: x:0% y:0% FlowCal: x:66% y:6% FlowCal: x:100% y:74% FlowCal: samples collected FlowCal: scalarx:0.976 fit: 0.10 <-- lower "fit" values are better FlowCal: scalary:0.858 fit: 0.04 FlowCal: FLOW_FXSCALER=30.00000, FLOW_FYSCALER=171.0000

5. Use Opflow (Land if GPS/Non-GPS transitions not set up)

If GPS/Non-GPS transitions not set up:

1. Land the vehicle and setup the EKF3 to use OpticalFlow

   1. EK3_SRC1_POSXY = 0 (None)

   2. EK3_SRC1_VELXY = 5 (Optical Flow)

   3. EK3_SRC1_POSZ = 1 (Baro)

   4. EK3_SRC1_VELZ = 0 (None)

   5. EK3_SRC1_YAW = 1 (Compass)

   6. EK3_SRC_OPTIONS = 0 (Disable FuseAlIVelocities)

2. Fly the vehicle again to check performance

   1. What are we looking for and what mode?

If GPS/Non-GPS transitions are set up:

1. SET UP BELOW PARAMETERS PRIOR TO INITIAL TAKEOFF?

   1. RC6_OPTION = 158 (Optflow Calibration)

   2. RC7_OPTION = 90 (EKF Pos Source) low is GPS, middle is OpticalFlow, high is unused

   3. EK3_SRC1_POSXY = 3 (GPS)

   4. EK3_SRC1_POSZ = 1 (Baro)

   5. EK3_SRC1_VELXY = 3 (GPS)

   6. EK3_SRC1_VELZ = 3 (GPS)

   7. EK3_SRC1_YAW = 1 (Compass)

   8. EK3_SRC2_POSXY = 0 (None)

   9. EK3_SRC2_VELXY = 5 (Optical Flow)

   10. EK3_SRC2_POSZ = 1 (Baro)

   11. EK3_SRC2_VELZ = 0 (None)

   12. EK3_SRC2_YAW = 1 (Compass)

   13. EK3_SRC_OPTIONS = 0 (Disable FuseAlIVelocities)

2. Engage the calibration using RC input 6 (a 2-position switch) and switch between GPS and Optical.

5. Check lidar calibration?

6. Review test data?