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Test 1: Test Basic Obstacle Avoidance

Procedure

Goals / Objectives

Knockoff Criteria

1. Battery plugged in

• Mission planner no pre-arm warning

• make sure autotune is in one of the flight mode

2. Bring the drone to the flightline

• toggle safety switch

3. Enable logging

4. Take off the drone in Loiter

• verify drone flight performance

• Drone unstable

• unable to establish VLOS

• Timer threshold:

  • flight time exceeded 5 min.

  VBatt below safety threshold: 10V

  • QLAND immediately, disarm when landed.

  • Recover drone & gather state of batteries

  Lost link

  • Follow lost link procedures. Maintain vlos if possible.

  • Contact necessary local authorities.

5. Engage Autotune

• one axis at a time

• Drone unstable

• unable to establish VLOS

• Timer threshold:

  • flight time exceeded 5 min.

  VBatt below safety threshold: 10V

  • QLAND immediately, disarm when landed.

  • Recover drone & gather state of batteries

  Lost link

  • Follow lost link procedures. Maintain vlos if possible.

  • Contact necessary local authorities.

6. Switch Flight mode to Loiter to back to landing area

• Drone unstable

• unable to establish VLOS

• Timer threshold:

  • flight time exceeded 5 min.

  VBatt below safety threshold: 10V

  • QLAND immediately, disarm when landed.

  • Recover drone & gather state of batteries

  Lost link

  • Follow lost link procedures. Maintain vlos if possible.

  • Contact necessary local authorities.

7. Land the drone with autotune mode

• to permanently save the PID value

• Drone unstable

• unable to establish VLOS

• Timer threshold:

  • flight time exceeded 5 min.

  VBatt below safety threshold: 10V

  • QLAND immediately, disarm when landed.

  • Recover drone & gather state of batteries

  Lost link

  • Follow lost link procedures. Maintain vlos if possible.

  • Contact necessary local authorities.

9. Disarm the drone

• disarm the drone, Toggle safety switch