Flying a VTOL with the TX15 › Arm, lift off, fly forward in FBWA, hover again and land softly failed

Start

From the setup of The TX15 on the serial line.

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 serial
  And the airframe is VTOL
  And the TX15 screen arming is disarmed
  And the plane is on the ground

couldn't arrange the radio line is serial: radio line is USB, not serial (start the station with --flight-computer for the serial line)

• the game clock is off · arranged
• the link is connected · arranged
• the vehicle is disarmed · arranged
• the autopilot mode is MANUAL · arranged
• the map tool is pan · arranged
• the plan has 0 items · arranged
• the plan altitude is 40 m · arranged
• the last plan item is none · arranged
• the takeoff is not planned · arranged
• the vehicle mission is empty · arranged
• the home position is set · arranged
• the waypoints are unchecked · arranged
• the mission file is missing · arranged
• the measured distance is hidden · arranged
• the vehicle's current item is 0 · arranged
• the throttle stick is low · arranged
• the arm switch is off · arranged
• the mode switch is QHOVER · arranged
• the radio line is serial · arranged
• the airframe is VTOL · arranged
• the TX15 screen arming is disarmed · arranged
• the plane is on the ground · arranged

1 When the arm switch is on

When the arm switch is on
Then the vehicle is armed
  And the TX15 screen arming is armed

Expected behaviour: The arm switch arms the vehicle, The screen shows that the plane is armed.

• the vehicle is armed · The arm switch arms the vehicle
• the TX15 screen arming is armed · The screen shows that the plane is armed
• 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
  And the TX15 screen mode is QLOITER

Expected behaviour: The mode switch picks the mode, The screen shows the flight mode.

• the autopilot mode is QLOITER · The mode switch picks the mode
• the TX15 screen mode is QLOITER · The screen shows the flight 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 throttle stick lifts the plane on the serial line.

• the flight is hovering · A raised throttle stick lifts the plane
• the height above home is at least 15 m · A raised throttle stick lifts the plane
• the plane is flying · A raised throttle stick lifts the plane
• 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
  And the TX15 screen mode is FBWA

Expected behaviour: FBWA changes a hover into forward flight, The screen shows 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 TX15 screen mode is FBWA · The screen shows 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 aileron stick banks the plane on the serial line.

• 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 wings become level again on the serial line.

• 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
  And the autopilot mode is QLOITER
  And the TX15 screen mode is QLOITER

Expected behaviour: Button 2 brings the plane out of FBWA and back to a hover, The screen shows the plane back in 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 TX15 screen mode is QLOITER · The screen shows the plane back in 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
  And the TX15 screen arming is disarmed

Expected behaviour: QRTL brings the plane home and lands it softly, The screen shows the plane landed and disarmed.

• 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 TX15 screen arming is disarmed · The screen shows the plane landed and disarmed
• the last plan item is none · An empty plan has no last item