From 50015b4196f2d229fae386e763deeaf4c3462961 Mon Sep 17 00:00:00 2001
From: Clyde McQueen <clyde@mcqueen.net>
Date: Fri, 12 Apr 2024 07:29:46 -0700
Subject: [PATCH 1/3] autotest: reduce SITL baro noise

---
 Tools/autotest/default_params/sub-6dof.parm | 3 ++-
 Tools/autotest/default_params/sub.parm      | 3 ++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/Tools/autotest/default_params/sub-6dof.parm b/Tools/autotest/default_params/sub-6dof.parm
index 67c7af365f63b4..1c65ff7eb50515 100644
--- a/Tools/autotest/default_params/sub-6dof.parm
+++ b/Tools/autotest/default_params/sub-6dof.parm
@@ -1,4 +1,3 @@
-BARO_RND         0.02
 BATT_MONITOR     4
 BTN0_FUNCTION    0
 BTN10_SFUNCTION  0
@@ -59,4 +58,6 @@ INS_ACC3OFFS_Z   0.000
 INS_ACC3SCAL_X   1.000
 INS_ACC3SCAL_Y   1.000
 INS_ACC3SCAL_Z   1.000
+LOG_BITMASK      180222
+SIM_BARO_RND     0.02
 FRAME_CONFIG     2.000
\ No newline at end of file
diff --git a/Tools/autotest/default_params/sub.parm b/Tools/autotest/default_params/sub.parm
index bef934263fbfbd..65615aa5f2abdd 100644
--- a/Tools/autotest/default_params/sub.parm
+++ b/Tools/autotest/default_params/sub.parm
@@ -86,4 +86,5 @@ BARO_EXT_BUS 1
 PILOT_ACCEL_Z 200
 PILOT_SPEED_UP 200
 PSC_JERK_Z 8
-LOG_BITMASK,180222
+LOG_BITMASK      180222
+SIM_BARO_RND     0.02

From 3be1b9efa6163e702995b536fcc1addebe8d1980 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 7 Mar 2024 14:34:24 +1100
Subject: [PATCH 2/3] autotest: add set_home function

---
 Tools/autotest/vehicle_test_suite.py | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py
index d223290addb1e4..e752171665112f 100644
--- a/Tools/autotest/vehicle_test_suite.py
+++ b/Tools/autotest/vehicle_test_suite.py
@@ -8993,6 +8993,15 @@ def monitor_groundspeed(self, want, tolerance=0.5, timeout=5):
             self.progress("GroundSpeed OK (got=%f) (want=%f)" %
                           (m.groundspeed, want))
 
+    def set_home(self, loc):
+        '''set home to supplied loc'''
+        self.run_cmd_int(
+            mavutil.mavlink.MAV_CMD_DO_SET_HOME,
+            p5=int(loc.lat*1e7),
+            p6=int(loc.lng*1e7),
+            p7=loc.alt,
+        )
+
     def SetHome(self):
         '''Setting and fetching of home'''
         if self.is_tracker():

From 77cccd08a34e1203147d4448461d984889f64a20 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 7 Mar 2024 14:34:56 +1100
Subject: [PATCH 3/3] autotest: add test for moving from loiter to guided

---
 Tools/autotest/arducopter.py | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 9b47f12106a4be..b71247338ac89e 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -10828,6 +10828,21 @@ def CameraLogMessages(self):
             if abs(got - want) > 1:
                 raise NotAchievedException(f"Incorrect relalt {want=} {got=}")
 
+    def LoiterToGuidedHomeVSOrigin(self):
+        '''test moving from guided to loiter mode when home is a different alt
+        to origin'''
+        self.set_parameters({
+            "TERRAIN_ENABLE": 1,
+            "SIM_TERRAIN": 1,
+        })
+        self.takeoff(10, mode='GUIDED')
+        here = self.mav.location()
+        self.set_home(here)
+        self.change_mode('LOITER')
+        self.wait_altitude(here.alt-1, here.alt+1, minimum_duration=10)
+        self.disarm_vehicle(force=True)
+        self.reboot_sitl()  # to "unstick" home
+
     def tests2b(self):  # this block currently around 9.5mins here
         '''return list of all tests'''
         ret = ([
@@ -10906,6 +10921,7 @@ def tests2b(self):  # this block currently around 9.5mins here
             self.PILOT_THR_BHV,
             self.GPSForYawCompassLearn,
             self.CameraLogMessages,
+            self.LoiterToGuidedHomeVSOrigin,
         ])
         return ret