From 051c2dcd3554f1baa597dcc79220bf35f0fb37bd Mon Sep 17 00:00:00 2001
From: Henry Wurzburg <hwurzburg@yahoo.com>
Date: Fri, 6 Dec 2024 10:27:23 -0600
Subject: [PATCH] Tools: add Plane autoland applet

---
 Tools/autotest/arduplane.py                   | 35 +++++++++++++++++++
 .../applets/UniversalAutoLand.lua             |  6 ++--
 2 files changed, 38 insertions(+), 3 deletions(-)

diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 7fabd6cd07816..d075b0a6cde9e 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -5326,6 +5326,40 @@ def AerobaticsScripting(self):
             else:
                 raise NotAchievedException("Missing trick %s" % t)
 
+    def UniversalAutoLandScript(self):
+        '''Test UniversalAutoLandScript'''
+        applet_script = "UniversalAutoLand.lua"
+        self.customise_SITL_commandline(["--home", "-35.362938,149.165085,585,173"])
+
+        self.install_applet_script_context(applet_script)
+        self.context_collect('STATUSTEXT')
+        self.set_parameters({
+            "SCR_ENABLE" : 1,
+            "SCR_VM_I_COUNT" : 1000000,
+            "RTL_AUTOLAND" : 2
+            })
+        self.reboot_sitl()
+        self.wait_text("Loaded UniversalAutoLand.lua", check_context=True)
+        self.set_parameters({
+             "AUTOLAND_ENABLE" : 1,
+             "AUTOLAND_WP_ALT" : 55,
+             "AUTOLAND_WP_DIST" : 400
+            })
+        self.scripting_restart()
+        self.wait_text("Scripting: restarted", check_context=True)
+
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+        self.change_mode("AUTO")
+        self.wait_text("Captured initial takeoff direction", check_context=True)
+
+        self.wait_disarmed(120)
+        self.progress("Check the landed heading matches takeoff")
+        self.wait_heading(173, accuracy=5, timeout=1)
+        loc = mavutil.location(-35.362938, 149.165085, 585, 173)
+        if self.get_distance(loc, self.mav.location()) > 35:
+            raise NotAchievedException("Did not land close to home")
+
     def SDCardWPTest(self):
         '''test BRD_SD_MISSION support'''
         spiral_script = "mission_spiral.lua"
@@ -6457,6 +6491,7 @@ def tests1a(self):
             self.Soaring,
             self.Terrain,
             self.TerrainMission,
+            self.UniversalAutoLandScript,
         ])
         return ret
 
diff --git a/libraries/AP_Scripting/applets/UniversalAutoLand.lua b/libraries/AP_Scripting/applets/UniversalAutoLand.lua
index 3b6839f996f9a..282a644e5df05 100644
--- a/libraries/AP_Scripting/applets/UniversalAutoLand.lua
+++ b/libraries/AP_Scripting/applets/UniversalAutoLand.lua
@@ -13,7 +13,7 @@ function bind_add_param(name, idx, default_value)
 end
 
 --[[
-  // @Param: ENABLE
+  // @Param: AUTOLAND_ENABLE
   // @DisplayName: AUTOLAND ENABLE
   // @Description: enable AUTOLAND script action
   // @Values: 0:Disabled,1:Enabled
@@ -23,7 +23,7 @@ local AULND_ENABLE = bind_add_param('ENABLE', 1, 1)
 local enable = AULND_ENABLE:get()
 
 --[[
-  // @Param: WP_ALT
+  // @Param: AUTOLAND_WP_ALT
   // @DisplayName: Final approach waypoint alt
   // @Description: Altitude of final approach waypoint created by script
   // @Range: 1 100
@@ -33,7 +33,7 @@ local enable = AULND_ENABLE:get()
 local AULND_ALT = bind_add_param('WP_ALT', 2, 0)
 local final_wp_alt = AULND_ALT:get()
 --[[
-  // @Param: WP_DIST
+  // @Param: AUTOLAND_WP_DIST
   // @DisplayName: Final approach waypoint distance
   // @Description: Distance from landng point (HOME) to final approach waypoint created by script in the opposite direction of initial takeoff
   // @Range: 0 1000