From 3eaa9e301ceebc01f034deee76a8b7ec51284970 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 21 May 2024 10:12:31 +1000
Subject: [PATCH] autotest: add test showing throttle satuation problem

---
 Tools/autotest/arduplane.py | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index b05f565a5a2980..1a6c422b0a8615 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -5340,6 +5340,13 @@ def MinThrottle(self):
         self.drain_mav()
         self.assert_servo_channel_value(3, servo_min)
 
+    def ClimbThrottleSaturation(self):
+        '''check what happens when throttle is saturated in GUIDED'''
+        self.set_parameters({
+            "TECS_CLMB_MAX": 30,
+        })
+        self.takeoff(alt=1000, mode='TAKEOFF', timeout=1000)
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestPlane, self).tests()
@@ -5449,6 +5456,7 @@ def tests(self):
             self.MAV_CMD_NAV_LOITER_UNLIM,
             self.MAV_CMD_NAV_RETURN_TO_LAUNCH,
             self.MinThrottle,
+            self.ClimbThrottleSaturation,
         ])
         return ret