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Create ONE table per test-item. Eg: “Landing pad images over asphalt”, “landing pad images over grass”, “landing pad images over grass, high” should all be unique tables.

Use each expand to capture one series of tests, eg “Landing pad detection” or “Auto-tuning”.

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titleCard 1: Tuning and Tune Evaluation

https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter

Test 1 - Further Tuning

Procedure

Goals / Objectives

Knockoff criteria

  1. Ensure raw IMU data is being logged

  1. Set mode to Loiter, arm, hover ~10m above ground for 30 seconds

  1. Ensure no errors or failsafes

  1. Full stick deflection in each axis

  1. Land

  1. Evaluate filters using online tool, adjust if needed, repeat test

  1. If filters are good and were not good originally, repeat autotune on each axis

high (> 4.5) value for ATC_ANG_RLL_P, ATC_ANG_PIT_P, and ATC_ANG_YAW_P

  1. Disable raw IMU data logging

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titleCard 2: Range and Speed

Test 1 - Range Test

Procedure

Goals / Objectives

knock-off criteria

  1. Check failsafe behaviour, auto speed, RTL altitude

  1. Set mode to loiter

  1. Arm, takeoff to 50m

  • Any EKF issues

  1. Use guided mode to set a waypoint on the other side of WRESTRC

  • Any EKF issues

  1. While the drone is flying, keep an eye on the link quality, tx power, and number of dropped packets

  • No connection loss, no dropped packets

  • Drone loses connection, will RTL

  • Any EKF issues

  1. Once the drone reaches the waypoint, enable RTL

  • No connection loss, no dropped packets

  • Any EKF issues

  1. Drone lands

Test 2 - Speed Test

Procedure

Goals / Objectives

knock-off criteria

  1. Set mode to loiter

  • Determine maximum flight speed, efficiency at each speed from log analysis

  1. Takeoff, climb to 50m

  • Any EKF issues

  1. Set a guided waypoint ~400m from the current location and fly there

  • Any EKF issues

  1. Increase the speed parameter by 2 m/s and fly another ~400m stretch

  • Any EKF issues

  1. Continue until speed maxes out, check max tilt value and increase if reasonable, then increase speed again

  • Any EKF issues

  1. If drone cannot reach max speed parameter after an increase, the old value can be said to be “max speed”

  • Any EKF issues

  1. Land

Explain what capacity you need, what needs to be mounted, etc.

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This is a section for all attendees from your subteam which will be present for this flight test. (because they are testing their products, or otherwise)

Name

Phone #

Sub-team

Role

Nathan Green

  • Pilot

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Note

This section and remaining to be filled out by FTC and Flightline Team

Flightline Team

Name

Phone #

Role

Reason

Nathan Green

Pilot

Fly the drone

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