Flying a VTOL › Take off, fly forward, hover, land failed

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From the setup of Flying a VTOL.

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 airframe is VTOL
  And the plane is on the ground

• Every arranged state read back as arranged (17)

1 When the operator arms the vehicle

When the operator arms the vehicle
Then the vehicle is armed

Expected behaviour: Arming sets home.

• the vehicle is armed · Arming sets home
• the home position is set · Arming sets home
• the last plan item is none · An empty plan has no last item

2 When the operator takes off vertically

When the operator takes off vertically
Then the flight is hovering

Expected behaviour: VTOL TKOF lifts the plane straight up, A hover draws 15 to 25 A, The load pulls the voltage down.

• the flight is hovering · VTOL TKOF lifts the plane straight up
• the height above home is at least 15 m · VTOL TKOF lifts the plane straight up
• the battery current is between 15 and 25 A · A hover draws 15 to 25 A — observed 36.46
• the battery voltage is between 14 and 17 V · The load pulls the voltage down — observed 13.375
• the last plan item is none · An empty plan has no last item

3 When the operator switches to forward flight

When the operator switches to forward flight
Then the flight is cruising

Expected behaviour: CRUISE changes a hover into forward flight, Cruise draws 3 to 7 A.

• the autopilot mode is CRUISE · CRUISE changes a hover into forward flight
• the flight is cruising · CRUISE changes a hover into forward flight
• the height above home is at least 10 m · CRUISE changes a hover into forward flight
• the battery current is between 3 and 7 A · Cruise draws 3 to 7 A
• the last plan item is none · An empty plan has no last item

4 When the operator switches to hover

When the operator switches to hover
Then the flight is hovering

Expected behaviour: QLOITER changes forward flight back into a hover.

• the autopilot mode is QLOITER · QLOITER changes forward flight back into a hover
• the flight is hovering · QLOITER changes forward flight back into a hover
• the height above home is at least 10 m · QLOITER changes forward flight back into a hover
• the last plan item is none · An empty plan has no last item

5 When the operator lands vertically

When the operator lands vertically
Then the plane is on the ground
  And the vehicle is disarmed

Expected behaviour: QLAND brings the plane straight down.

• the vehicle is disarmed · QLAND brings the plane straight down
• the plane is on the ground · QLAND brings the plane straight down
• the last plan item is none · An empty plan has no last item