Flying a VTOL with self-levelling › Lift off, fly forward in FBWA, hover again and land softly failed

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From the setup of Flying with a radio.

Given the game clock is off
  And the link is connected
  And the vehicle is disarmed
  And the autopilot mode is MANUAL
  And the map tool is pan
  And the plan has 0 items
  And the plan altitude is 40 m
  And the last plan item is none
  And the takeoff is not planned
  And the vehicle mission is empty
  And the home position is set
  And the waypoints are unchecked
  And the mission file is missing
  And the measured distance is hidden
  And the vehicle's current item is 0
  And the throttle stick is low
  And the arm switch is off
  And the mode switch is QHOVER
  And the radio line is USB
  And the airframe is VTOL
  And the plane is on the ground

• Every arranged state read back as arranged (21)

1 When the arm switch is on

When the arm switch is on
Then the vehicle is armed

Expected behaviour: The arm switch arms the vehicle.

• the vehicle is armed · The arm switch arms the vehicle
• the last plan item is none · An empty plan has no last item

2 When the mode switch is QLOITER

When the mode switch is QLOITER
Then the autopilot mode is QLOITER

Expected behaviour: The mode switch picks the mode.

• the autopilot mode is QLOITER · The mode switch picks the mode
• the last plan item is none · An empty plan has no last item

3 When the throttle stick is high

When the throttle stick is high
Then the flight is hovering
  And the plane is flying
  And the height above home is at least 15 m

Expected behaviour: A raised throttle stick lifts the plane.

• the flight is hovering · A raised throttle stick lifts the plane — observed grounded
• the height above home is at least 15 m · A raised throttle stick lifts the plane — observed 0.024
• the plane is flying · A raised throttle stick lifts the plane — observed on the ground
• the last plan item is none · An empty plan has no last item

4 When the pilot switches to forward flight

When the pilot switches to forward flight
Then the flight is cruising
  And the autopilot mode is FBWA

Expected behaviour: FBWA changes a hover into forward flight.

• the autopilot mode is FBWA · FBWA changes a hover into forward flight
• the flight is cruising · FBWA changes a hover into forward flight
• the height above home is at least 15 m · FBWA changes a hover into forward flight
• the last plan item is none · An empty plan has no last item

5 When the aileron stick is right

When the aileron stick is right
Then the VTOL's wings are banked

Expected behaviour: In FBWA, the aileron stick banks the plane.

• the VTOL's wings are banked · In FBWA, the aileron stick banks the plane
• the last plan item is none · An empty plan has no last item

6 When the aileron stick is centred

When the aileron stick is centred
Then the VTOL's wings are level

Expected behaviour: In FBWA, the wings become level again.

• the VTOL's wings are level · In FBWA, the wings become level again
• the last plan item is none · An empty plan has no last item

7 When the pilot switches back to a hover

When the pilot switches back to a hover
Then the flight is hovering

Expected behaviour: Button 2 brings the plane out of FBWA and back to a hover.

• the autopilot mode is QLOITER · Button 2 brings the plane out of FBWA and back to a hover
• the flight is hovering · Button 2 brings the plane out of FBWA and back to a hover
• the height above home is at least 15 m · Button 2 brings the plane out of FBWA and back to a hover
• the last plan item is none · An empty plan has no last item

8 When the pilot sends the plane home

When the pilot sends the plane home
Then the autopilot mode is QRTL
  And the plane is on the ground
  And the last landing is soft

Expected behaviour: QRTL brings the plane home and lands it softly.

• the autopilot mode is QRTL · QRTL brings the plane home and lands it softly
• the last landing is soft · QRTL brings the plane home and lands it softly
• the plane is on the ground · QRTL brings the plane home and lands it softly
• the last plan item is none · An empty plan has no last item