> For the complete documentation index, see [llms.txt](https://docs.theseus.us/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.theseus.us/cyclops/system-validation/flight-test/further-testing.md).

# Further testing

It is helpful to extend the total distance and mission envelope flown to validate the system's performance on your UAV. If you validated stages 1 and 2 of flight testing, you should expect normal operation at this stage.

Below is an example of a longer mission plan (17 km) that includes feature-sparse terrain and a maximum distance-to-home of 6 km.

<figure><img src="https://content.gitbook.com/content/hzvlBbeiwnrjdGDAaBcQ/blobs/RKSA5KjqVqe6jX4UQE0L/image.png" alt=""><figcaption></figcaption></figure>

## Best practices

### Mission planning

We recommend creating a few small, autonomous mission plans to validate Cyclops' performance on your UAV. There are a few procedures that optimize mission plans for these initial tests, as well as in full deployment:

1\) **Fly over features**: Cyclops is more likely to get a map match over distinct terrain such as roads, tree lines, or neighborhoods. Avoid planning long durations over "textureless" terrains like fields, sand, and especially bodies of water.

2\) **Avoid sustained sharp banks**: holding large bank angles can reduce the amount of visible terrain directly below your UAV. This will limit Cyclops' ability to estimate its position in this area. Large banks pose more of a risk if you are flying at high altitude or your camera is mounted off the roll axis of your UAV (i.e. on the wing or a protruding mount).

3\) **Prioritize reaching >100m AGL**: Time spent flying below this altitude will lead to uncorrected position drift. We recommend that operators prioritize reaching at least 100m AGL before flying to distant waypoints so Cyclops can begin correcting for drift.

4\) **Keep the mission plan inside the map boundary**: Cyclops cannot localize outside of the active map boundary. Ensure that your map is sufficiently larger that your mission area requires. If your UAV leaves this area for any reason, have the pilot navigate back manually or switch to GPS positioning.

### Reducing risks

Testing any system on a UAV entails some level of risk. There are many ways to mitigate bad outcomes when testing Cyclops:

1\) **Test using a validated platform**: Fly Cyclops on an airworthy UAV to reduce potential platform issues.

2\) **Avoid using expensive/critical components**: If you plan on using a more expensive camera for missions, we recommend using a cheaper camera for testing if available.

3\) **Understand testing conditions**: Be aware of the conditions in your test flight area such as GPS jamming, bad weather (clouds, rain, wind), air raid alerts, etc. Also be aware if any of these conditions are subject to change during flights.

{% hint style="info" %}
Dense clouds can obstruct Cyclops' view. Be sure to note the cloud cover altitude and plan your missions below it.
{% endhint %}