Test 1: Test Basic Obstacle Avoidance

Procedure

Goals / Objectives

Knockoff Criteria

1. Set waypoints

• Create a simple path for the drone to follow.

2. Run main obstacle avoidance script

3. Set up the obstacle in course

4. Battery plugged in

• Mission planner no pre-arm warning

• make sure AUTO is in one of the flight mode

5. Bring the drone to the flightline

• toggle safety switch

6. Enable logging

7. Arm the drone in AUTO

8. Let drone start flying through waypoints in AUTO

• 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. Wait for drone to approach the obstacle

10. Ensure that drone stops and enters LOITER mode when detect object

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

• Ensure drone switches to LOITER mode upon detecting obstacle.

If the drone does not stop within 10m of the person and obstacle:

• The person holding the obstacle steps out of flight path immediately.

• Pilot manually intervenes and skips to Step 13 (landing and disarming drone).

11. Remove the obstacle from the flight path and ensure the drone reenters AUTO mode

• Ensure the drone resumes its mission.

• Ensure drone switches to AUTO mode upon obstacle removal.

If drone does not resume to landing waypoint

• Pilot manually takes over and proceeds to Step 13 (landing and disarming drone).

12. Drone hovers over the 2nd waypoint (the landing waypoint)

•  Ensure drone completes the mission.

13. Pilot manually lands drone

14. Disarm the drone

• disarm the drone, Toggle safety switch