updated test cards for optical flow flights (#25676)

* updated test cards for optical flow flights

* Update docs/en/test_cards/mc_07_optical_flow_failure.md

Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>

* updated docs

* fixed mis-type in url

* subedit

* Update docs/en/test_cards/mc_06_optical_flow.md

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>

* updated test card

* changes to file name and some instructions

---------

Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>

docs/en/SUMMARY.md

@@ -831,8 +831,10 @@
       - [Test MC_04 - Failsafe Testing](test_cards/mc_04_failsafe_testing.md)
       - [Test MC_05 - Manual Modes (Inside)](test_cards/mc_05_indoor_flight_manual_modes.md)
       - [Test MC_06 - Optical Flow (Inside)](test_cards/mc_06_optical_flow.md)
-      - [Test MC_07 - VIO (Inside)](test_cards/mc_07_vio.md)
+      - [Test MC_07 - Optical Flow Low Mount](test_cards/mc_07_optical_flow_low_mount.md)
       - [Test MC_08 - DSHOT ESC](test_cards/mc_08_dshot.md)
+      - [Test MC_09 - VIO (Visual-Inertial Odometry)](test_cards/mc_09_vio.md)
+      - [Test MC_10 - Optical Flow / GPS Mixed](test_cards/mc_10_optical_flow_gps_mixed.md)
     - [Unit Tests](test_and_ci/unit_tests.md)
       - [Fuzz Tests](test_and_ci/fuzz_tests.md)
     - [Continuous Integration](test_and_ci/continous_integration.md)

docs/en/_sidebar.md

@@ -829,8 +829,10 @@
       - [Test MC_04 - Failsafe Testing](/test_cards/mc_04_failsafe_testing.md)
       - [Test MC_05 - Manual Modes (Inside)](/test_cards/mc_05_indoor_flight_manual_modes.md)
       - [Test MC_06 - Optical Flow (Inside)](/test_cards/mc_06_optical_flow.md)
-      - [Test MC_07 - VIO (Inside)](/test_cards/mc_07_vio.md)
+      - [Test MC_07 - Optical Flow Low Mount](/test_cards/mc_07_optical_flow_low_mount.md)
       - [Test MC_08 - DSHOT ESC](/test_cards/mc_08_dshot.md)
+      - [Test MC_09 - VIO (Visual-Inertial Odometry)](/test_cards/mc_09_vio.md)
+      - [Test MC_10 - Optical Flow / GPS Mixed](/test_cards/mc_10_optical_flow_gps_mixed.md)
     - [Unit Tests](/test_and_ci/unit_tests.md)
       - [Fuzz Tests](/test_and_ci/fuzz_tests.md)
     - [Continuous Integration](/test_and_ci/continous_integration.md)

docs/en/test_and_ci/test_flights.md

@@ -28,5 +28,7 @@ These are run by the test team as part of release testing, and for more signific
 - [MC_04 - Failsafe Testing](../test_cards/mc_04_failsafe_testing.md)
 - [MC_05 - Indoor Flight (Manual Modes)](../test_cards/mc_05_indoor_flight_manual_modes.md)
 - [MC_06 - Indoor Flight (Optical Flow)](../test_cards/mc_06_optical_flow.md)
-- [MC_07 - VIO (Visual-Inertial Odometry)](../test_cards/mc_07_vio.md)
+- [MC_07 - Optical Flow Low Mount](../test_cards/mc_07_optical_flow_low_mount.md)
 - [MC_08 - DSHOT ESC](../test_cards/mc_08_dshot.md)
+- [MC_09 - VIO (Visual-Inertial Odometry)](../test_cards/mc_09_vio.md)
+- [MC_10 - Optical Flow / GPS Mixed](../test_cards/mc_10_optical_flow_gps_mixed.md)

docs/en/test_cards/mc_06_optical_flow.md

@@ -2,25 +2,23 @@
 
 ## Objective
 
-To test that optical flow works as expected
+Test that optical flow works as expected
 
 ## Preflight
 
-Disconnect all GPS / compasses and ensure vehicle is using optical flow for navigation
-([Setup Information here](../sensor/optical_flow.md))
+Disconnect all GPS / compasses and ensure vehicle is using optical flow for navigation ([setup information here](../sensor/optical_flow.md))
 
-Ensure there are no other sources of positioning besides optical flow
+Ensure there are no other sources of positioning besides optical flow:
 
 - [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `1`
 - [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `0`
 - [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `0`
-- [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG): `0`
 
-Ensure that the drone can go into Altitude / Position flight mode while still on the ground
+Ensure that the drone can go into Altitude / Position mode while still on the ground
 
 ## Flight Tests
 
-❏ Altitude flight mode
+❏ [Altitude mode](../flight_modes_mc/altitude.md)
 
     ❏ Vertical position should hold current value with stick centered
 
@@ -28,7 +26,7 @@ Ensure that the drone can go into Altitude / Position flight mode while still on
 
     ❏ Throttle response set to climb/descent rate
 
-❏ Position flight mode
+❏ [Position mode](../flight_modes_mc/position.md)
 
     ❏ Horizontal position should hold current value with stick centered
 
@@ -38,6 +36,16 @@ Ensure that the drone can go into Altitude / Position flight mode while still on
 
     ❏ Pitch/Roll/Yaw response set to pitch/roll/yaw rates
 
+❏ Varying height terrain
+
+    ❏ Put boxes on the ground to create varying heights in terrain
+
+    ❏ Take off in position mode and fly over the boxes such that the downward facing rangefinder varies in value
+
+    ❏ Do a few passes with varying amounts of time over the boxes (1-30 seconds if possible)
+
+    ❏ Drone should not raise in height when flying over boxes
+
 ## Landing
 
 ❏ Land in either Position or Altitude mode with the throttle below 40%
@@ -47,7 +55,8 @@ Ensure that the drone can go into Altitude / Position flight mode while still on
 ## Expected Results
 
 - Take-off should be smooth as throttle is raised
-- Drone should hold altitude in Altitude Flight mode without wandering
-- Drone should hold position within 1 meter in Position Flight mode without pilot moving sticks
+- Drone should hold altitude in Altitude mode without wandering (over surface with many features)
+- Drone should hold position within 1 meter in Position mode without pilot moving sticks
 - No oscillations should present in any of the above flight modes
+- Drone should not raise in height when flying over boxes
 - Upon landing, copter should not bounce on the ground

docs/en/test_cards/mc_07_optical_flow_low_mount.md

@@ -0,0 +1,45 @@
+# Test MC_07 - Optical Flow Low Sensor
+
+## Objective
+
+Test that optical flow works as expected with a low mounted optical flow sensor
+
+## Preflight
+
+Ensure that the drone's optical flow sensor is mounted more than an inch off of the ground
+
+Ensure that [MPC_THR_MIN](../advanced_config/parameter_reference.md#MPC_THR_MIN) is tuned correctly for landing
+
+Disconnect all GPS / compasses and ensure vehicle is using optical flow for navigation
+([Setup Information here](../sensor/optical_flow.md))
+
+Ensure there are no other sources of positioning besides optical flow
+
+- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `1`
+- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `0`
+- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `0`
+
+Ensure that the drone can go into [Position mode](../flight_modes_mc/position.md) while still on the ground
+
+## Flight Tests
+
+❏ [Position mode](../flight_modes_mc/position.md)
+
+    ❏ Horizontal position should hold current value with stick centered
+
+    ❏ Vertical position should hold current value with stick centered
+
+    ❏ Throttle response set to climb/descent rate
+
+    ❏ Pitch/Roll/Yaw response set to pitch/roll/yaw rates
+
+## Landing
+
+❏ Land in Position mode with the throttle below 40%
+
+❏ Upon touching ground, copter should disarm automatically within 2 seconds (default: see [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND))
+
+## Expected Results
+
+- Take-off should be smooth as throttle is raised
+- Drone should stay in Position mode, NOT fall into [altitude](../flight_modes_mc/altitude.md) mode

docs/en/test_cards/mc_08_dshot.md

@@ -6,22 +6,22 @@ Regression test for DSHOT working with PX4
 
 ## Preflight
 
-- Ensure vehicle is using a DSHOT ESC.
+- Ensure vehicle is using a DSHOT ESC
 - Parameter [DSHOT_BIDIR_EN](../advanced_config/parameter_reference.md#DSHOT_BIDIR_EN) is enabled
 - Parameter [DSHOT_TEL_CFG](../advanced_config/parameter_reference.md#DSHOT_TEL_CFG) is configured (if ESC supports telemetry)
 - Parameter [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) has Debug (`5`) checked
 
 ## Flight Tests
 
-❏ Stabilized Flight mode
+❏ [Stabilized mode](../flight_modes_mc/manual_stabilized.md)
 
-    ❏ Takeoff in stabilized flight mode to ensure correct motor spin
+    ❏ Takeoff in stabilized mode to ensure correct motor spin
 
     ❏ Pitch/Roll/Yaw response 1:1
 
     ❏ Throttle response 1:1
 
-❏ Position flight mode
+❏ [Position mode](../flight_modes_mc/position.md)
 
     ❏ Horizontal position should hold current value with stick centered
 
@@ -41,6 +41,6 @@ Regression test for DSHOT working with PX4
 
 - Download flight logs
 - Load into Data Plot Juggler
-- Ensure data is logged for esc_status/esc.0x/esc_rpm
+- Ensure data is logged for `esc_status`/`esc.0x`/`esc_rpm`
 
   ![Reference frames](../../assets/test_cards/dshot_log_output.png)

docs/en/test_cards/mc_09_vio.md

@@ -1,14 +1,14 @@
-# Test MC_07 - VIO (Visual-Inertial Odometry)
+# Test MC_09 - VIO (Visual-Inertial Odometry)
 
 ## Objective
 
-To test that external vision (VIO) works as expected
+Test that external vision (VIO) works as expected
 
 ## Preflight
 
 Disconnect all GPS / compasses and ensure vehicle is using VIO for navigation
 
-Ensure that the drone can go into Altitude / Position flight mode while still on the ground
+Ensure that the drone can go into [Altitude](../flight_modes_mc/altitude.md) / [Position](../flight_modes_mc/position.md) mode while still on the ground
 
 Ensure there are no other sources of positioning besides VIO:
 
@@ -19,7 +19,7 @@ Ensure there are no other sources of positioning besides VIO:
 
 ## Flight Tests
 
-❏ Altitude flight mode
+❏ [Altitude mode](../flight_modes_mc/altitude.md)
 
     ❏ Vertical position should hold current value with stick centered
 
@@ -27,7 +27,7 @@ Ensure there are no other sources of positioning besides VIO:
 
     ❏ Throttle response set to climb/descent rate
 
-❏ Position flight mode
+❏ [Position mode](../flight_modes_mc/position.md)
 
     ❏ Horizontal position should hold current value with stick centered
 
@@ -46,7 +46,7 @@ Ensure there are no other sources of positioning besides VIO:
 ## Expected Results
 
 - Take-off should be smooth as throttle is raised
-- Drone should hold altitude in Altitude Flight mode without wandering
-- Drone should hold position within 1 meter in Position Flight mode without pilot moving sticks
+- Drone should hold altitude in Altitude mode without wandering
+- Drone should hold position within 1 meter in Position mode without pilot moving sticks
 - No oscillations should present in any of the above flight modes
 - Upon landing, copter should not bounce on the ground

docs/en/test_cards/mc_10_optical_flow_gps_mixed.md

@@ -0,0 +1,74 @@
+# Test MC_10 - Optical Flow / GPS Mixed
+
+## Objective
+
+Test that optical flow mixed with GPS works as expected
+
+## Preflight
+
+[Setup optical flow and GPS](../sensor/optical_flow.md)
+
+Ensure there are no other sources of positioning besides optical flow
+
+- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `1`
+- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `7`
+- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `0`
+- [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG): `1`
+- [EKF2_HGT_REF](../advanced_config/parameter_reference.md#EKF2_HGT_REF): `1` (GPS)
+
+Ensure that the drone can go into [Altitude](../flight_modes_mc/altitude.md) / [Position](../flight_modes_mc/position.md) mode while still on the ground
+
+## Flight Tests
+
+❏ [Altitude mode](../flight_modes_mc/altitude.md)
+
+    ❏ Vertical position should hold current value with stick centered
+
+    ❏ Pitch/Roll/Yaw response 1:1
+
+    ❏ Throttle response set to climb/descent rate
+
+❏ [Position mode](../flight_modes_mc/position.md)
+
+    ❏ Horizontal position should hold current value with stick centered
+
+    ❏ Vertical position should hold current value with stick centered
+
+    ❏ Throttle response set to climb/descent rate
+
+    ❏ Pitch/Roll/Yaw response set to pitch/roll/yaw rates
+
+❏ GPS Cutout
+
+    ❏ Takeoff in position mode in GPS rich environment (outdoors)
+
+    ❏ Open QGC and navigate to MAVLink Console
+
+    ❏ Type `gps off` to disable GPS
+
+    ❏ Drone should maintain position hold via optical flow
+
+❏ GPS Degredation
+
+    ❏ Takeoff in position mode in GPS rich environment (outdoors)
+
+    ❏ Fly under a metal surface (or other GPS blocking structure)
+
+    ❏ Ensure drone does not lose position hold or start drifting
+
+    ❏ Fly out of metal structure to regain GPS
+
+❏ GPS Acquisition
+
+    ❏ Takeoff in position mode in non-GPS environment
+
+    ❏ Fly into a GPS rich environment (outdoors)
+
+    ❏ Ensure drone acquires GPS position
+
+## Expected Results
+
+- Take-off should be smooth as throttle is raised
+- Drone should hold position within 1 meter in Position mode without pilot moving sticks
+- Drone should hold position in GPS rich environment as well as non-GPS environment
+- No oscillations should present in any of the above flight modes