From 8927b2827362f6f316ab76cea302ef5e19d009e4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 19 Jun 2024 13:34:37 +1000
Subject: [PATCH] Tools: add Copter flight option for requiring position to arm

---
 Tools/autotest/arducopter.py | 34 ++++++++++++++++++++++++++++++++++
 1 file changed, 34 insertions(+)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index f6f8e7a73b9cf..16e1bdfc1195c 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -11535,6 +11535,39 @@ def GripperReleaseOnThrustLoss(self):
         self.do_RTL()
         self.reboot_sitl()
 
+    def assert_home_position_not_set(self):
+        try:
+            self.poll_home_position()
+        except NotAchievedException:
+            return
+
+        # if home.lng != 0: etc
+
+        raise NotAchievedException("Home is set when it shouldn't be")
+
+    def REQUIRE_POSITION_FOR_ARMING(self):
+        '''check FlightOption::REQUIRE_POSITION_FOR_ARMING works'''
+        self.context_push()
+        self.set_parameters({
+            "SIM_GPS_NUMSATS": 3,  # EKF does not like < 6
+        })
+        self.reboot_sitl()
+        self.change_mode('STABILIZE')
+        self.wait_prearm_sys_status_healthy()
+        self.assert_home_position_not_set()
+        self.arm_vehicle()
+        self.disarm_vehicle()
+        self.change_mode('LOITER')
+        self.assert_prearm_failure("waiting for home", other_prearm_failures_fatal=False)
+
+        self.change_mode('STABILIZE')
+        self.set_parameters({
+            "FLIGHT_OPTIONS": 8,
+        })
+        self.assert_prearm_failure("Need Position Estimate", other_prearm_failures_fatal=False)
+        self.context_pop()
+        self.reboot_sitl()
+
     def tests2b(self):  # this block currently around 9.5mins here
         '''return list of all tests'''
         ret = ([
@@ -11626,6 +11659,7 @@ def tests2b(self):  # this block currently around 9.5mins here
             self.GuidedWeatherVane,
             self.Clamp,
             self.GripperReleaseOnThrustLoss,
+            self.REQUIRE_POSITION_FOR_ARMING,
         ])
         return ret