From 7e9a65597e207c5f82dc3b607bea2da4867bf71f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 6 Mar 2024 10:27:41 +1100
Subject: [PATCH] autotest: add a test for RTL_AUTOLAND=1 behaviour

---
 Tools/autotest/quadplane.py | 110 ++++++++++++++++++++++++++++++++++++
 1 file changed, 110 insertions(+)

diff --git a/Tools/autotest/quadplane.py b/Tools/autotest/quadplane.py
index 12b7cfda70db03..23ada70daa7dd1 100644
--- a/Tools/autotest/quadplane.py
+++ b/Tools/autotest/quadplane.py
@@ -1662,6 +1662,114 @@ def DCMClimbRate(self):
         # Force disarm
         self.disarm_vehicle(force=True)
 
+    def RTL_AUTOLAND_1(self):
+        '''test behaviour when RTL_AUTOLAND==1'''
+
+        self.set_parameters({
+            "RTL_AUTOLAND": 1,
+        })
+
+        # when RTL is entered and RTL_AUTOLAND is 1 we should fly home
+        # then to the landing sequence.  This mission puts the landing
+        # sequence well to the West of home so if we go directly there
+        # we won't come within 200m of home
+        wps = self.create_simple_relhome_mission([
+            (mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 30),
+            # fly North
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 500, 0, 30),
+            # add a waypoint 1km North (which we will look for and trigger RTL
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 1000, 0, 30),
+
+            # *exciting* landing sequence is ~1km West and points away from Home.
+            self.create_MISSION_ITEM_INT(
+                mavutil.mavlink.MAV_CMD_DO_LAND_START,
+            ),
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, -1000, 30),
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, -1300, 15),
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, -1600, 5),
+            (mavutil.mavlink.MAV_CMD_NAV_VTOL_LAND, 0, -1750, 0),
+        ])
+        self.check_mission_upload_download(wps)
+
+        self.change_mode('AUTO')
+        self.wait_ready_to_arm()
+
+        self.arm_vehicle()
+        self.wait_current_waypoint(3)  # will be 2km North here
+        self.change_mode('RTL')
+
+        self.wait_distance_to_home(100, 200, timeout=120)
+        self.wait_current_waypoint(7)
+
+        self.fly_home_land_and_disarm()
+
+    def send_reposition_to_loc(self, loc):
+        self.run_cmd_int(
+            mavutil.mavlink.MAV_CMD_DO_REPOSITION,
+            0,
+            1,  # reposition flags; 1 means "change to guided"
+            0,
+            0,
+            int(loc.lat * 1e7),
+            int(loc.lng * 1e7),
+            20,    # alt
+            frame=mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
+        )
+
+    def reposition_to_loc(self, loc, accuracy=100):
+        self.send_reposition_to_loc(loc)
+        self.wait_location(
+            loc,
+            accuracy=accuracy,
+            minimum_duration=20,
+            timeout=120,
+        )
+
+    def RTL_AUTOLAND_1_FROM_GUIDED(self):
+        '''test behaviour when RTL_AUTOLAND==1 and entering from guided'''
+
+        self.set_parameters({
+            "RTL_AUTOLAND": 1,
+        })
+
+        # when RTL is entered and RTL_AUTOLAND is 1 we should fly home
+        # then to the landing sequence.  This mission puts the landing
+        # sequence well to the West of home so if we go directly there
+        # we won't come within 200m of home
+        wps = self.create_simple_relhome_mission([
+            (mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 30),
+            # fly North
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 500, 0, 30),
+            # add a waypoint 1km North (which we will look for and trigger RTL
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 1000, 0, 30),
+
+            # *exciting* landing sequence is ~1km West and points away from Home.
+            self.create_MISSION_ITEM_INT(
+                mavutil.mavlink.MAV_CMD_DO_LAND_START,
+            ),
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, -1000, 30),
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, -1300, 15),
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, -1600, 5),
+            (mavutil.mavlink.MAV_CMD_NAV_VTOL_LAND, 0, -1750, 0),
+        ])
+        self.check_mission_upload_download(wps)
+
+        self.change_mode('AUTO')
+        self.wait_ready_to_arm()
+
+        here = self.mav.location()
+        guided_loc = self.offset_location_ne(here, 500, -500)
+
+        self.arm_vehicle()
+        self.wait_current_waypoint(3)  # will be 2km North here
+        self.reposition_to_loc(guided_loc)
+        self.send_cmd_do_set_mode('RTL')
+
+        self.wait_distance_to_home(100, 200, timeout=120)
+        self.wait_current_waypoint(7)
+
+        self.fly_home_land_and_disarm()
+
     def tests(self):
         '''return list of all tests'''
 
@@ -1706,5 +1814,7 @@ def tests(self):
             self.MAV_CMD_NAV_TAKEOFF,
             self.Q_GUIDED_MODE,
             self.DCMClimbRate,
+            self.RTL_AUTOLAND_1,  # as in fly-home then go to landing sequence
+            self.RTL_AUTOLAND_1_FROM_GUIDED,  # as in fly-home then go to landing sequence
         ])
         return ret