From 42ad2a7911f1239e9320ca9ba67877d09840545f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 25 Nov 2024 15:39:37 +1100
Subject: [PATCH] autotest: added non-compass takeoff test

---
 ArduPlane/mode_takeoff.cpp  |  2 +-
 Tools/autotest/arduplane.py | 36 ++++++++++++++++++++++++++++++++++++
 2 files changed, 37 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/mode_takeoff.cpp b/ArduPlane/mode_takeoff.cpp
index 4a8f7aef27453..42cdcb3d45673 100644
--- a/ArduPlane/mode_takeoff.cpp
+++ b/ArduPlane/mode_takeoff.cpp
@@ -88,7 +88,7 @@ void ModeTakeoff::update()
         const float groundspeed = groundspeed2d.length();
 
         // see if we will skip takeoff as already flying
-        if (plane.is_flying() && (millis() - plane.started_flying_ms > 10000U) && ahrs.groundspeed() > 3) {
+        if (plane.is_flying() && (millis() - plane.started_flying_ms > 10000U) && groundspeed > 3) {
             if (altitude >= alt) {
                 gcs().send_text(MAV_SEVERITY_INFO, "Above TKOFF alt - loitering");
                 plane.next_WP_loc = plane.current_loc;
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index d075b0a6cde9e..8e49b0f2038cc 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -4805,6 +4805,41 @@ def TakeoffTakeoff4(self):
 
         self.fly_home_land_and_disarm()
 
+    def TakeoffTakeoff5(self):
+        '''Test the behaviour of a takeoff with no compass'''
+        self.set_parameters({
+            "COMPASS_USE": 0,
+            "COMPASS_USE2": 0,
+            "COMPASS_USE3": 0,
+        })
+        import copy
+        start_loc = copy.copy(SITL_START_LOCATION)
+        start_loc.heading = 175
+        self.customise_SITL_commandline(["--home=%.9f,%.9f,%.2f,%.1f" % (
+            start_loc.lat, start_loc.lng, start_loc.alt, start_loc.heading)])
+        self.reboot_sitl()
+        self.change_mode("TAKEOFF")
+
+        # waiting for the EKF to be happy won't work
+        self.delay_sim_time(20)
+        self.arm_vehicle()
+
+        target_alt = self.get_parameter("TKOFF_ALT")
+        self.wait_altitude(target_alt-5, target_alt, relative=True)
+
+        # Wait a bit for the Takeoff altitude to settle.
+        self.delay_sim_time(5)
+
+        bearing_margin = 35
+        loc = self.mav.location()
+        bearing_from_home = self.get_bearing(start_loc, loc)
+        if bearing_from_home < 0:
+            bearing_from_home += 360
+        if abs(bearing_from_home - start_loc.heading) > bearing_margin:
+            raise NotAchievedException(f"Did not takeoff in the right direction {bearing_from_home}")
+
+        self.fly_home_land_and_disarm()
+
     def TakeoffGround(self):
         '''Test a rolling TAKEOFF.'''
 
@@ -6525,6 +6560,7 @@ def tests1b(self):
             self.TakeoffTakeoff2,
             self.TakeoffTakeoff3,
             self.TakeoffTakeoff4,
+            self.TakeoffTakeoff5,
             self.TakeoffGround,
             self.TakeoffIdleThrottle,
             self.TakeoffBadLevelOff,