Page Comparison

Test #1: Opflow calibration

Procedure

Goals / Objectives

Knockoff criteria

1. Hover altitude <x>Inflow calibration setup

   1. Set RC6_OPTION = 158 (Optflow Calibration)

   2. Setup the EKF3 to use GPS (the default)
      • EK3_SRC1_POSXY = 3 (GPS)
      • EK3_SRC1_POSZ = 1 (Baro)
      EK3_SRC1_VELXY = 3 (GPS)
      EK3_SRC1_VELZ = 3 (GPS)
      • EK3_SRC1_YAW = 1 (Compass)
      • 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)

1. Ensure

   1. EK3_ENABLE = 1
      EK2_ENABLE = 0
      AHRS_EKF_TYPE = 3

3. Hover in Loiter mode (>10m)

< etc >

4. Begin opflow

• < Should get some message >

4. 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. Check lidar calibration?

6. Review test data?

Test #1: ???Stab mode Lidar Verification

Procedure

Goals / Objectives

Knockoff criteria

1. Hover altitude <x>

1. Takeoff and hover in STAB 1.5-2m AGL. Verify controls.

• Verify pitch/roll/yaw directions are correct.

• Verify that Gemini functionality is retained.

• Verify that flight modes & flight time is correct.

• Pitch/Roll/Yaw incorrect

  • land, flip in mission planner, re-start test

• Drone de-stabilizes.

  • Land, evaluate tune, re-start test

2. Translational movement @ slow speed towards vertical wall

• Ensure that the proximity sensor is able to detect a wall.

• contact with the wall

  • back-off and land. Evaluate prop health. Re-start if possible.

• Loss of heading reference

  • back-off , re-establish, continue.

3. Maintain desired distance from the wall while spinning heading vector 360

• Ensure that proximity continues to track at all angles

4. Approaches from front/side/rear ascending & descending.

• Basic characterization of obstacle avoidance properties.

Test #2: Loit mode Obstacle Avoidance

Procedure

Goals / Objectives

Knockoff criteria

1. Takeoff and hover in Loit mode 1.5-2m AGL. Verify controls.

• Verify pitch/roll/yaw directions are correct.

• Verify that Gemini functionality is retained.

• Verify that flight modes & flight time is correct.

• Pitch/Roll/Yaw incorrect

  • land, flip in mission planner, re-start test

• Drone de-stabilizes.

  • Land, evaluate tune, re-start test

2. Translational movement @ slow speed towards vertical wall

• Ensure that the proximity sensor is able to detect a wall.

• Ensure that the drone