Setup drone:
a) Ensure the guided-mode script has been uploaded to the drone
b) Switch on drone
c) Run the script (starts the mission, where drone navigates to waypoints in a square, switches from AUTO → GUIDED → AUTO, completes mission and returns to landing)
| Good outcome if drone completes the auto-guided-auto mode switches seamlessly, drone continues its auto mission after diversion, and returns to land. The mission is setup as follows. connection initialised, armed, takes off 10m altitude, flies 10m NW to the first vertex of the square, flies 10m E to the second vertex. When the drone is about to arrive at second vertex, it switches from AUTO to GUIDED to simulate a diversion and navigates to a waypoint 7.5 NE of current pos. After reaching this intermediate wp, drone switches to AUTO, continues to 3rd waypoint 10m S, 4th waypoint 10m W, signifying the completion of the auto-mission. The drone then returns to landing position and lands gracefully.
| < list of reasons why you would want to stop the test > Pilot intervention is not necessary unless safety issues arise, or there are environmental disruptions, as the auto → guided → auto switch is handled by the script.
if at any point the pilot needs to take control: 1) kill the script, this forcefully changes drone mode to loiter (tested on MP), and then aborts the current mission. 2) Pilot has manual control over the drone NOTE: on mp, simulating a mission-abort, ie. killing the script changes mode to loiter almost instantly, but drone altitude plummets to zero. (discussed with Andrew and it should just be a MissionPlanner default issue). However, just in case, pilot should be ready to control vertical throttle when aborting mission (by when killing the script) |