From 1fd9a6dfcc5b33df7ed6ee9d66279514d3f24ade Mon Sep 17 00:00:00 2001
From: Henry Wurzburg <hwurzburg@yahoo.com>
Date: Sun, 1 Dec 2024 18:16:09 -0600
Subject: [PATCH] autotest:add AUTOLAND mode test

---
 ArduPlane/Parameters.h      |  4 +++-
 ArduPlane/mode.h            |  6 ------
 ArduPlane/mode_autoland.cpp |  1 -
 Tools/autotest/arduplane.py | 15 +++++++++++++++
 4 files changed, 18 insertions(+), 8 deletions(-)

diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index 39cb0fd56a1e7..9945869250b4b 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -100,7 +100,7 @@ class Parameters {
         k_param_sonar_old, // unused
         k_param_log_bitmask,
         k_param_BoardConfig,
-        k_param_mode_autoland,     // was rssi_range
+        k_param_rssi_range,     // unused, replaced by rssi_ library parameters
         k_param_flapin_channel_old,  // unused, moved to RC_OPTION
         k_param_flaperon_output, // unused
         k_param_gps,
@@ -363,6 +363,8 @@ class Parameters {
 
         k_param_pullup = 270,
         k_param_quicktune,
+        k_param_mode_autoland, 
+
     };
 
     AP_Int16 format_version;
diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h
index d65dc789f7923..e1c9589472c00 100644
--- a/ArduPlane/mode.h
+++ b/ArduPlane/mode.h
@@ -890,12 +890,6 @@ class ModeAutoLand: public Mode
     bool _enter() override;
     AP_Mission::Mission_Command cmd;
     bool land_started;
- 
-
-private:
-
-
-
 };
 
 #if HAL_SOARING_ENABLED
diff --git a/ArduPlane/mode_autoland.cpp b/ArduPlane/mode_autoland.cpp
index fde14fd75471e..e9d13858035a2 100644
--- a/ArduPlane/mode_autoland.cpp
+++ b/ArduPlane/mode_autoland.cpp
@@ -68,7 +68,6 @@ bool ModeAutoLand::_enter()
     cmd.content.location = plane.next_WP_loc;
     plane.start_command(cmd);
     land_started = false;
-    gcs().send_text(MAV_SEVERITY_WARNING, "AutoLanding");
     return true;
 }
 
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 8e49b0f2038cc..539841109442d 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -4201,6 +4201,20 @@ def FlyEachFrame(self):
             self.fly_mission(mission_file, strict=False, quadplane=quadplane, mission_timeout=400.0)
             self.wait_disarmed()
 
+    def AutoLandMode(self):
+        '''Test AUTOLAND mode'''
+        self.customise_SITL_commandline(["--home", "-35.362938,149.165085,585,173"])
+        self.context_collect('STATUSTEXT')
+        self.takeoff(alt=80, mode='TAKEOFF')
+        self.wait_text("Takeoff initial direction", check_context=True)
+        self.change_mode(26)
+        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 RCDisableAirspeedUse(self):
         '''Test RC DisableAirspeedUse option'''
         self.set_parameter("RC9_OPTION", 106)
@@ -6548,6 +6562,7 @@ def tests1b(self):
             self.MAV_CMD_DO_AUX_FUNCTION,
             self.SmartBattery,
             self.FlyEachFrame,
+            self.AutoLandMode,
             self.RCDisableAirspeedUse,
             self.AHRS_ORIENTATION,
             self.AHRSTrim,