Test_Plan

1. INTRODUCTION

1.1 Version Control

1.2 Overview

The Autonomous Drone Control project has been designed with artificial intelligence and image processing algorithms to enable the drone to fly in a controlled way on a track. Functions, use cases and requirements specified previously in our SRS and SDD documents.

1.3 Scope

This document contains information about the test plan of the Autonomous Drone Control project. The following sections briefly explain what the test criteria will be and how we will do the testing part.

1.4 Terminology

2. FEATURES TO BE TESTED

This section lists and gives a brief description of all the major features to be tested. For each major feature there will be a Test Design Specification added at the end of this document.

2.1 Computer Vision Software Test (CV_ST)

2.1.1 Object Detection Test (CV_ST.ODT)

Correct detection of certain objects with the image taken from the camera is tested based on the following.

2.1.1.1 How Long Does It Take to Detect (FPS) (CV_ST.ODT.FPS)

In this test, any of the previously determined objects must be detected within a maximum of 2 seconds after entering the camera frame.

2.1.1.2 Accuracy Rate (CV_ST.ODT.AC)

In this test, the accuracy or inaccuracy of the detected object is tested (0-1).

2.1.1.3 Detection Distance (CV_ST.ODT.DS)

In this test, the detection of the detected object at a specified distance is tested.

2.1.1.4 Color Detection Test (CV_ST.ODT.CD)

With the software test prepared in this test, the correct color is determined by comparing the colors that we will use in the objects with the camera and the human eye.

2.1.2 Commanding Accuracy Test (CV_ST.CAT)

In this test, the position of the detected object on the image is determined, the motion command is sent to the SDK software by adhering to the predetermined motion directions according to the determined position.

2.2 Hardware Tests (HT)

2.2.1 Signal Performance Test (HT.SPT)

There is a certain distance between the device and the emergency control, if there is command transmission despite this distance, the test is successful.

2.2.2 Flight Speed Test (HT.FST)

Testing the movements of the drone after detecting the obstacle in terms of speed and time.

2.2.3 Battery Health Test (HT.BHT)

The batteries used are tested with battery testers to see if there is an evenly distributed voltage to each cell.

2.2.4 Vibration Test (HT.VT)

Carrying the drone in a deactivated state in the vehicle on a determined bumpy road, then checking whether the device is working or not.

2.2.5 Flight Time Test (HT.FTT)

-The time tester of how long the drone is suspended in the air. -Drone completion time test with remote control (Slow, Medium, Fast use) -Drone's autonomous track completion time test

2.2.6 Camera Test (HT.CT)

Connects the camera to any computer. This is tested with any application that opens a camera view.

2.2.7 GPS Test (HT.GT)

Location accuracy is determined by entering the latitude and longitude data obtained from GPS into the map application of a mobile device that has a map application and can access location information.

2.3 Autopilot Software Tests

2.3.1 SDK Test for Simulation (Connection-Contact) (AST.STS)

This test is done for the simulation side before flying the drone. It is done via Mission Planner. Its purpose is to send commands to the drone.

2.3.1.1 Command Receive Accuracy Test (AST.STS_CRAT)

The purpose of this test is to test whether the commands we send to the drone are correctly received. We can also do this test while the drone is on the ground.

2.3.1.2 Axiom Truth Test (AST.STS_ATT)

In this test, we test whether the drone receives the commands we send correctly and applies them accordingly.

2.3.1.3 Command Receiving Test from Different Devices (AST.STS_CRTDD)

In this test, it is tested whether the drone receives commands from different devices.

2.3.2 Autopilot Flight Test (AST.AFT)

Its purpose is to fly the drone according to the command in the real environment.

2.3.2.1 PID Test (AST.AFT_PID)

It is the test that checks whether the drone vibrates and shakes in the air. If it vibrates and oscillates, it means that the PID settings are not correct and must be corrected.

2.3.2.2 SDK (AST.AFT_SDK)

After the tests in the simulation are over, the commands we apply on the SDK are tested again in the flight test.

2.3.3 Direction Test of Motors (AST.DTM)

It is for testing the correctness of the direction of the motors on the drone. Hexacopter-style drones must have 3 engines in the ccw direction and 2 in the cw direction.

2.3.4 Calibration Test of Gyroscope (AST.CTG)

These are the tests made so that the drone can stand without swaying in a windless area.

2.3.5 Compass Calibration Test (AST.COMCT)

The compass uses the earth's magnetic field to determine which direction the drone is heading. The magnetic fields in our flight area (for example, high voltage wires) or the magnetic field created by the power cables and batteries on the multicopter affect the operation of this compass sensor.

2.3.6 Controller Calibration Test (AST.CCT)

It is a feature that is tested when using different controllers or introducing a new controller to the drone. It allows us to see the min and max (controller signal) values of the controller. The autopilot is calibrated according to its values.

3.FEATURES NOT TO BE TESTED

We will not do these tests:

-Mini Computer (Jetson)

-Autopilot Hardware

-Drone Body Strength

-Internal Hardware (Motor-Esc)

because they are done by those who sell them.

4.ITEM PASS/FAIL CRITERIA

Describe the general rule to use to decide when a test case passes and when it fails.

4.1 Exit Criteria

Describe under what conditions the testing of the product is considered successful. Some examples are:

• 100% of the test cases are executed

• 93% of the test cases passed

• All High and Medium Priority test cases passed

5.REFERENCES

[1] SRS link: https://github.com/CankayaUniversity/ceng-407-408-2021-2022-Autonomous-Drone-Control/wiki/SRS-(Software-Requirements-Specification)

[2] SDD link: https://github.com/CankayaUniversity/ceng-407-408-2021-2022-Autonomous-Drone-Control/wiki/SDD-(Software-Design-Document)

6.TEST DESIGN SPECIFICATIONS

6.1 Computer Vision Software Test (CV_ST)

6.1.1 Object Detection Test (CV_ST.ODT)

6.1.2 Commanding Accuracy Test (CV_ST.CAT)

6.2 Hardware Tests (HT)

6.2.1 Signal Performance Test (HT.SPT)

6.2.2 Flight Speed Test (HT.FST)

6.2.3 Battery Health Test (HT.BHT)

6.2.4 Vibration Test (HT.VT)

6.2.5 Flight Time Test (HT.FTT)

6.2.6 Camera Test (HT.CT)

6.2.7 GPS Test (HT.GT)

6.3 Autopilot Software Tests (AST)

6.3.1 SDK Test for Simulation (AST.STS)

6.3.2 Autopilot Flight Test (AST.AFT)

6.3.3 SDK Test for Simulation (AST.STS)

6.3.4 Direction Test of Motors (AST.DTM)

6.3.5 Calibration Test of Gyroscope (AST.CTG)

6.3.6 Compass Calibration Test (AST.COMCT)

6.3.7 Controller Calibration Test (AST.CCT)

7.Detailed Test Cases

7.1 CV_ST.ODT.FPS.01

7.2 CV_ST.ODT.AC.02

7.3 CV_ST.ODT.DS.03

7.4 CV_ST.ODT.CD.04

7.5 CV_ST.CAT.01

7.6 HT.SPT.01

7.7 HT.FST.01

7.8 HT.BHT.01

7.9 HT.VT.01

7.10 HT.FTT.01

7.11 HT.CT.01

7.12 HT.GT.01

7.13 AST.STS_CRAT.01

7.14 AST.STS_ATT

7.15 AST.STS_CRTDD

7.16 AST.AFT_PID

7.17 AST.AFT_SDK

7.18 AST.DTM

7.19 AST.CTG

7.20 AST.COMCT

7.20 AST.CCT

8.TEST RESULTS

8.1 Individual Test Results