mirror of
https://github.com/PX4/PX4-Autopilot.git
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New Crowdin translations - uk (#25746)
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
This commit is contained in:
PX4 Build Bot
GitHub
@@ -851,8 +851,10 @@
|
||||
- [Тест MC_04 - Тестування відмовостійкості](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)
|
||||
- [Модульні Тести](test_and_ci/unit_tests.md)
|
||||
- [Fuzz Tests](test_and_ci/fuzz_tests.md)
|
||||
- [Безперервна інтеграція](test_and_ci/continous_integration.md)
|
||||
|
||||
@@ -1,7 +1,7 @@
|
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# Запуск системи
|
||||
|
||||
Запуск PX4 контрольований скриптами оболонки.
|
||||
На NuttX вони знаходяться у директорії [ROMFS/px4fmu_common/init.d](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d), деякі з них також використовуються на Posix системах (Linux/MacOS).
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||||
On NuttX they reside in the [ROMFS/px4fmu_common/init.d](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d) folder - some of these are also used on Posix (Linux/macOS).
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Скрипти які використовуються тільки на Posix системах знаходяться у [ROMFS/px4fmu_common/init.d-posix](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d-posix).
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||||
|
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Усі файли, які починаються з числа і підкреслення (наприклад, `10000_airaipl`) є попередньо визначеними конфігураціями планерів.
|
||||
@@ -13,7 +13,7 @@ They are exported at build-time into an `airframes.xml` file which is parsed by
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||||
|
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Наступні секції розділені відповідно до операційної системи, на яких виконується PX4.
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## POSIX (Linux/MacOS)
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## POSIX (Linux/macOS)
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On POSIX, the system shell is used as script interpreter (e.g. /bin/sh, being symlinked to dash on Ubuntu).
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||||
Щоб це працювало потрібно кілька речей:
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||||
|
||||
@@ -502,6 +502,7 @@ struct message_dropout_s {
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- [ulogreader](https://github.com/maxsun/ulogreader): Javascript, ULog reader and parser outputs log in JSON object format.
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- [Foxglove](https://foxglove.dev): an integrated visualization and diagnosis tool for robotics data that supports ULog files.
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- [TypeScript ULog parser](https://github.com/foxglove/ulog): TypeScript, ULog reader that outputs JS objects.
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- [yule_log](https://crates.io/crates/yule_log): A streaming ULog parser written in Rust.
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|
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## Історія версій формату файлу
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|
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|
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@@ -2,22 +2,22 @@
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The _supported platforms_ for PX4 development are:
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- [Ubuntu Linux (22.04/20.04/18.04)](../dev_setup/dev_env_linux_ubuntu.md) — Recommended
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- [Ubuntu Linux (24.04/22.04)](../dev_setup/dev_env_linux_ubuntu.md) — Recommended
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||||
- [Windows (10/11)](../dev_setup/dev_env_windows_wsl.md) — via WSL2
|
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- [Mac OS](../dev_setup/dev_env_mac.md)
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- [macOS](../dev_setup/dev_env_mac.md)
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|
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## Цільові платформи що підтримуються
|
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|
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Таблиця нижче показує, які цільові платформи PX4 можна побудувати на кожній ОС.
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|
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| Цільова платформа | Linux (Ubuntu) | Mac | Windows |
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| ------------------------------------------------------------------------------------------------------------------------------------------------------ | :-------------------------------: | :-: | :-----: |
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| **NuttX based hardware:** [Pixhawk Series](../flight_controller/pixhawk_series.md), [Crazyflie](../complete_vehicles_mc/crazyflie2.md) | ✓ | ✓ | ✓ |
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| **Linux-based hardware:** [Raspberry Pi 2/3](../flight_controller/raspberry_pi_navio2.md) | ✓ | | |
|
||||
| **Simulation:** [Gazebo SITL](../sim_gazebo_gz/index.md) | ✓ | ✓ | ✓ |
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||||
| **Simulation:** [Gazebo Classic SITL](../sim_gazebo_classic/index.md) | ✓ | ✓ | ✓ |
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| **Simulation:** [ROS with Gazebo Classic](../simulation/ros_interface.md) | ✓ | | ✓ |
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| **Simulation:** ROS 2 with Gazebo | ✓ | | ✓ |
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| Цільова платформа | Linux (Ubuntu) | macOS | Windows |
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| ------------------------------------------------------------------------------------------------------------------------------------------------------ | :-------------------------------: | :---: | :-----: |
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| **NuttX based hardware:** [Pixhawk Series](../flight_controller/pixhawk_series.md), [Crazyflie](../complete_vehicles_mc/crazyflie2.md) | ✓ | ✓ | ✓ |
|
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| **Linux-based hardware:** [Raspberry Pi 2/3](../flight_controller/raspberry_pi_navio2.md) | ✓ | | |
|
||||
| **Simulation:** [Gazebo SITL](../sim_gazebo_gz/index.md) | ✓ | ✓ | ✓ |
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||||
| **Simulation:** [Gazebo Classic SITL](../sim_gazebo_classic/index.md) | ✓ | ✓ | ✓ |
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||||
| **Simulation:** [ROS with Gazebo Classic](../simulation/ros_interface.md) | ✓ | | ✓ |
|
||||
| **Simulation:** ROS 2 with Gazebo | ✓ | | ✓ |
|
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|
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Experienced Docker users can also build with the containers used by our continuous integration system: [Docker Containers](../test_and_ci/docker.md)
|
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|
||||
|
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@@ -1,4 +1,4 @@
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# Середовище розробки MacOS
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# macOS Development Environment
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|
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Наступні інструкції для встановлення середовища розробки PX4 для macOS.
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||||
Це середовище може бути використане для збірки PX4 для:
|
||||
@@ -22,8 +22,8 @@ To build other targets you will need to use a [different OS](../dev_setup/dev_en
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||||
### Налаштування середовища
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|
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:::details
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||||
Apple Silicon Macbook users!
|
||||
If you have an Apple M1, M2 etc. Macbook, make sure to run the terminal as x86 by setting up an x86 terminal:
|
||||
Apple Silicon MacBook users!
|
||||
If you have an Apple M1, M2 etc. MacBook, make sure to run the terminal as x86 by setting up an x86 terminal:
|
||||
|
||||
1. Locate the Terminal application within the Utilities folder (**Finder > Go menu > Utilities**)
|
||||
2. Select _Terminal.app_ and right-click on it, then choose **Duplicate**.
|
||||
@@ -50,7 +50,7 @@ If you have an Apple M1, M2 etc. Macbook, make sure to run the terminal as x86 b
|
||||
2. Enforce Python 3 by appending the following lines to `~/.zshenv`
|
||||
|
||||
```sh
|
||||
# Point pip3 to MacOS system python 3 pip
|
||||
# Point pip3 to macOS system python 3 pip
|
||||
alias pip3=/usr/bin/pip3
|
||||
```
|
||||
|
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|
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@@ -28,5 +28,7 @@ When submitting [Pull Requests](../contribute/code.md#pull-requests) for new fun
|
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- [MC_04 - Failsafe Testing](../test_cards/mc_04_failsafe_testing.md)
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- [MC_05 - Indoor Flight (Manual Modes)](../test_cards/mc_05_indoor_flight_manual_modes.md)
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- [MC_06 - Indoor Flight (Optical Flow)](../test_cards/mc_06_optical_flow.md)
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||||
- [MC_07 - VIO (Visual-Inertial Odometry)](../test_cards/mc_07_vio.md)
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- [MC_07 - Optical Flow Low Mount](../test_cards/mc_07_optical_flow_low_mount.md)
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- [MC_08 - DSHOT ESC](../test_cards/mc_08_dshot.md)
|
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- [MC_09 - VIO (Visual-Inertial Odometry)](../test_cards/mc_09_vio.md)
|
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- [MC_10 - Optical Flow / GPS Mixed](../test_cards/mc_10_optical_flow_gps_mixed.md)
|
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|
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@@ -2,25 +2,23 @@
|
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|
||||
## 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`
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||||
- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `0`
|
||||
- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `0`
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- [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
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|
||||
@@ -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
|
||||
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❏ Do a few passes with varying amounts of time over the boxes (1-30 seconds if possible)
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|
||||
❏ Drone should not raise in height when flying over boxes
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||||
|
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## Посадка
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||||
|
||||
❏ Land in either Position or Altitude mode with the throttle below 40%
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||||
@@ -47,7 +55,8 @@ Ensure that the drone can go into Altitude / Position flight mode while still on
|
||||
## Очікувані результати
|
||||
|
||||
- Зліт повинен бути плавним, коли газ піднято
|
||||
- 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
|
||||
- Немає коливання в жодному з перерахованих режимів польоту
|
||||
- Drone should not raise in height when flying over boxes
|
||||
- Після посадки, коптер не повинен підскакувати на землі
|
||||
|
||||
45
docs/uk/test_cards/mc_07_optical_flow_low_mount.md
Normal file
45
docs/uk/test_cards/mc_07_optical_flow_low_mount.md
Normal file
@@ -0,0 +1,45 @@
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||||
# Test MC_07 - Optical Flow Low Sensor
|
||||
|
||||
## Objective
|
||||
|
||||
Test that optical flow works as expected with a low mounted optical flow sensor
|
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|
||||
## Preflight
|
||||
|
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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
|
||||
|
||||
## Посадка
|
||||
|
||||
❏ 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))
|
||||
|
||||
## Очікувані результати
|
||||
|
||||
- Зліт повинен бути плавним, коли газ піднято
|
||||
- Drone should stay in Position mode, NOT fall into [altitude](../flight_modes_mc/altitude.md) mode
|
||||
@@ -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`
|
||||
|
||||
|
||||
|
||||
52
docs/uk/test_cards/mc_09_vio.md
Normal file
52
docs/uk/test_cards/mc_09_vio.md
Normal file
@@ -0,0 +1,52 @@
|
||||
# Test MC_09 - VIO (Visual-Inertial Odometry)
|
||||
|
||||
## Objective
|
||||
|
||||
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](../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:
|
||||
|
||||
- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `0`
|
||||
- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `0`
|
||||
- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `15`
|
||||
- [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG): `0`
|
||||
|
||||
## 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
|
||||
|
||||
## Посадка
|
||||
|
||||
❏ Land in either Position or Altitude 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))
|
||||
|
||||
## Очікувані результати
|
||||
|
||||
- Зліт повинен бути плавним, коли газ піднято
|
||||
- Drone should hold altitude in Altitude mode without wandering
|
||||
- Drone should hold position within 1 meter in Position mode without pilot moving sticks
|
||||
- Немає коливання в жодному з перерахованих режимів польоту
|
||||
- Після посадки, коптер не повинен підскакувати на землі
|
||||
74
docs/uk/test_cards/mc_10_optical_flow_gps_mixed.md
Normal file
74
docs/uk/test_cards/mc_10_optical_flow_gps_mixed.md
Normal file
@@ -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
|
||||
|
||||
## Очікувані результати
|
||||
|
||||
- Зліт повинен бути плавним, коли газ піднято
|
||||
- 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
|
||||
- Немає коливання в жодному з перерахованих режимів польоту
|
||||
Reference in New Issue
Block a user