Pre-Flight Checklist

This is an example of a ROSflight pre-flight checklist. You will likely need to augment this with checks specific to your hardware and the code running on the onboard computer.

Generic Checklist

Before powering up motors

  • ROS is running on onboard computer, communicating with base station
  • Sensors are calibrated and publishing
    • IMU (re-calibrate every flight): rosservice call /calibrate_imu
    • Barometer: rosservice call /calibrate_baro
    • Sonar (if attached)
    • Airspeed (if attached)
  • Estimated attitude is being published and looks accurate
  • RC communication
  • Arming and disarming
  • Published outputs look reasonable
  • Failsafe behavior
  • RC override behavior
  • RC range test
  • Wire-wiggle test (wiggle all wires to look for bad connections)
  • Parameter Check (if using a fixed wing, there are about 8 parameter you will need to change from default )

After Powering Up Motors (MAKE SURE THE FLIGHT CONTROLLER IS DISARMED!!!)

  • Arm/Disarm test
  • Propeller spin test (check directions and response to stick inputs)
  • Control surface test (Fixed Wing)
  • Response to offboard controls (Fixed Wing)

ROSplane Checklist

Before Leaving for the Flying Field

  • ROS is running and communicating on both the base station and onboard computer
  • Set fixed wing parameters
  • Wireless network setup is working
  • rosflight_io reports no errors
  • RC communication and override check
  • Proper directions on all control surfaces, from both RC and onboard computer
  • Failsafe behavior is working
  • logging is set up and working (automatic rosbag recording)
  • blow into pitot tube and watch airspeed estimate
  • move aircraft up and down and watch altitutde estimate (remember NED, so higher altitude = negative z)
  • check for GPS fix (go outside)
  • wire-wiggle test (look for sensor dropout and brownouts when wiggling all wires)
  • walking estimator test (walk around outside with GPS and airspeed and watch estimator)

After getting to flying field

  • Set up Network
  • Check RC communication
  • Publish Commands to aircraft, check response
  • Check RC switch setup
  • Arm/Disarm Test
  • GPS fix
  • Check automatic logging
  • Start external video recording
  • Go fly!