> For the complete documentation index, see [llms.txt](https://ascend-engineering.gitbook.io/px4/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://ascend-engineering.gitbook.io/px4/test-flights/v1.18.0-alpha1-testing/test-mc_02-full-autonomous.md).

# Test MC\_02 - Full Autonomous

All Tests Passed :

### Objective

Tested Mission, RTL, and related auto modes.

### Preflight

* The mission was planned on the ground.
* The first waypoint was set to Takeoff.
* Altitude changes were included throughout the mission.
* The last waypoint was set to RTL.

### Flight Tests

* Mission
  * Auto takeoff engaged.
  * Altitude changed throughout the mission.
  * The first waypoint was set to Takeoff.
  * Mission End RTL was enabled.
  * The vehicle disarmed automatically after landing.
* Mission + Manual arm
  * The vehicle armed in a manual mode.
  * Mission mode triggered takeoff after Auto engaged.
  * Tracking, cornering, and RTL performed correctly.
  * Upon touching ground, the copter disarmed within 2 seconds. Disarm time is set by [COM\_DISARM\_LAND](https://docs.px4.io/main/en/advanced_config/parameter_reference#COM_DISARM_LAND).
* RTL
  * The vehicle armed and took off in Position mode.
  * Flew the Vehicle about 10 meters from the start point.
  * RTL mode engaged correctly.
  * Tracking, cornering, and RTL performed correctly.

### Results

* Takeoff was smooth as throttle increased.
* The mission uploaded on the first attempt.
* The vehicle took off automatically after Auto engaged.
* The vehicle climbed to RTL altitude before returning home.
* The copter did not bounce on landing.

#### Flight logs

* Mission
  * [Flight 1](https://review.px4.io/plot_app?log=2fef4e6e-f7a1-40bc-8a9d-eaaaefb4f8ff)
  * [Flight 2](https://review.px4.io/plot_app?log=66b5cda6-e172-40ed-8dc7-02b55a72d6e0)
* Mission + Manual arm
  * [Flight 3](https://review.px4.io/plot_app?log=75df7f5b-d875-4e0c-a2c5-731d66a34ab2)
  * [Flight 4](https://review.px4.io/plot_app?log=f0f12763-37fa-480a-960b-bed6ea5a959f)
* RTL
  * [Flight 1](https://review.px4.io/plot_app?log=05d0391b-882c-4ed3-ac6e-e5fa668cbff5)
  * [Flight 2](https://review.px4.io/plot_app?log=eddd4bdc-8c3a-4baa-84dc-b994ce6c7e1d)
  * [Flight 3](https://review.px4.io/plot_app?log=2e7dd916-0af8-441c-976a-3c06023ea80e)