From 90c4b7bc271e0aff4b7d0a43f210bba15b3cce1d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 4 Sep 2024 22:25:12 +1000
Subject: [PATCH] autotest: add test for arming in guided with non-zero
 throttle

---
 Tools/autotest/arducopter.py | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index e970300da682a3..2451561af42de2 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -11840,6 +11840,23 @@ def MAV_CMD_MISSION_START_p1_p2(self):
             want_result=mavutil.mavlink.MAV_RESULT_DENIED,
         )
 
+    def GUIDEDArmingCheckThrottle(self):
+        '''check the way throttle is handled when arming in guided mode'''
+        self.change_mode('GUIDED')
+        self.wait_ready_to_arm()
+        self.start_subtest("With zero throttle should be able to arm")
+        self.arm_vehicle()
+        self.disarm_vehicle()
+
+        self.start_subtest("Without option set we should be able to arm with non-zero throttle in guided")
+        self.set_rc(3, 1600)
+        self.arm_vehicle()
+        self.disarm_vehicle()
+
+        self.start_subtest("With option enabled should not be able to arm with non-zero throttle")
+        self.set_parameter("GUID_OPTIONS", 1 << 8)
+        self.assert_arm_failure("is not neutral")
+
     def tests2b(self):  # this block currently around 9.5mins here
         '''return list of all tests'''
         ret = ([
@@ -11941,6 +11958,7 @@ def tests2b(self):  # this block currently around 9.5mins here
             self.MissionRTLYawBehaviour,
             self.BatteryInternalUseOnly,
             self.MAV_CMD_MISSION_START_p1_p2,
+            self.GUIDEDArmingCheckThrottle,
         ])
         return ret