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Test 1: Test Basic Obstacle Avoidance TODO

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

1. Turn on drone

2. Set waypoints

• Create a simple path for the drone to follow.

3. Run main obstacle avoidance script

• Ensure no errors.

4. Bring drone to the flightline

5. Set up the obstacle in course

6. Arm the drone and set mode to AUTO

7. Let drone start flying through waypoints in AUTO

8. Hold the obstacle in drone flight path

• Ensure the drone stops ~10m away from obstacle.

9. Remove the obstacle from flight path

• Ensure the drone resumes its mission.

10. Drone hovers over the last waypoint

11. Land drone manually