Page Comparison

Obstacle Detection/Guided Mode (HOUSTON)

Procedure

Goals / Objectives

Knockoff criteria

1. Setup drone:

2. a) Ensure the guided-mode script has been uploaded to the drone

3. b) Switch on drone

4. 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.

IMP: pls see photo before reading the description below!

• The mission is setup as follows. connection initialized, 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. Just before it reaches the third waypoint there is another auto-guided-auto switch, abrupt change in velocity component direction. Then we carry on naturally to 4th wp. halfway between, we auto-guided-auto (through ned_waypoint this time) to another intermediate wp (see photo), return to waypoint originally navigating too, and initiate landing procedure.

• 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 (when killing the script)