Procedure

Goals/Objectives

Knockoff criteria

1. Setup drone: (can be done at or before going to testing location?)

   1. Switch on drone, ensure the GOOD cv camera is connected

   2. (at time of writing, it is unclear if rc.local autostarting will work). SSH into pi, start airside

   3. Read live log output, compare flight controller log home location coordinates to phone’s gps

   4. Point drone’s cv camera at landing pad (keep a couple meters distance), check if geolocation is logging and data merge logs timestamps of detections and odometry

• A good outcome is if:

  • flight controller log has correct home location and altitude (compare with a phone’s GPS)

  • drone is able to detect landing pad and geolocation logs the coordinates (also ensure timestamps are logged in data merge logs)

< list of reasons why you would want to stop the test >

• Geolocation Logs are not working

• If data merge or flight controller logs not working, leave decision up to the tester present?

2. Either

   1. Switch on drone at takeoff location (Start airside system when drone at takeoff location)

   2. Get coordinates of drones takeoff location

3. Get distance from home location to landing pad (measure it)

   1. OR takeoff on landing pad

• Good outcome: Flight controller log has the home coordinates

• Able to manually measure relative distance from takeoff location to landing pad

4. Flying back and forth over the landing pad at different heights (3-5m, 10m, 15m, 20m)

   1. Each time a height changes, airside system should be restarted (each test should be an independent flight)

• Good outcome: images show bounding boxes over landing pads, geolocation logs are outputting detection coordinates