From 0e6b0cbf3576d9748bd0c66d863861181d3fa4a1 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 11 Oct 2021 12:06:48 +1100
Subject: [PATCH] autotest: add trivial test for MegaSquirt EFI system

---
 Tools/autotest/arduplane.py | 23 +++++++++++++++++++++++
 Tools/autotest/common.py    | 11 +++++++----
 2 files changed, 30 insertions(+), 4 deletions(-)

diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 50deb3bfb3..bd812f0915 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -10,6 +10,7 @@ from __future__ import print_function
 import math
 import os
 import signal
+import sys
 import time
 
 from pymavlink import quaternion
@@ -3172,6 +3173,24 @@ class AutoTestPlane(AutoTest):
 
         self.fly_home_land_and_disarm()
 
+    def MegaSquirt(self):
+        self.assert_not_receiving_message('EFI_STATUS')
+        self.set_parameters({
+            'SIM_EFI_TYPE': 1,
+            'EFI_TYPE': 1,
+            'SERIAL5_PROTOCOL': 24,
+        })
+        self.customise_SITL_commandline(["--uartF=sim:megasquirt"])
+        self.delay_sim_time(5)
+        m = self.assert_receive_message('EFI_STATUS')
+        mavutil.dump_message_verbose(sys.stdout, m)
+        if m.throttle_out != 0:
+            raise NotAchievedException("Expected zero throttle")
+        if m.health != 1:
+            raise NotAchievedException("Not healthy")
+        if m.intake_manifold_temperature < 20:
+            raise NotAchievedException("Bad intake manifold temperature")
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestPlane, self).tests()
@@ -3405,6 +3424,10 @@ class AutoTestPlane(AutoTest):
              "Test AutoTune mode",
              self.AUTOTUNE),
 
+            ("MegaSquirt",
+             "Test MegaSquirt EFI",
+             self.MegaSquirt),
+
             ("LogUpload",
              "Log upload",
              self.log_upload),
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index 6f6cf006b8..14e275efdd 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -9296,11 +9296,14 @@ switch value'''
                      want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED)
         self.disarm_vehicle()
 
-    def test_pid_tuning(self):
-        self.progress("making sure we're not getting PID_TUNING messages")
-        m = self.mav.recv_match(type='PID_TUNING', blocking=True, timeout=5)
+    def assert_not_receiving_message(self, message, timeout=1):
+        self.progress("making sure we're not getting %s messages" % message)
+        m = self.mav.recv_match(type=message, blocking=True, timeout=timeout)
         if m is not None:
-            raise PreconditionFailedException("Receiving PID_TUNING already")
+            raise PreconditionFailedException("Receiving %s messags" % message)
+
+    def test_pid_tuning(self):
+        self.assert_not_receiving_message('PID_TUNING', timeout=5)
         self.set_parameter("GCS_PID_MASK", 1)
         self.progress("making sure we are now getting PID_TUNING messages")
         m = self.mav.recv_match(type='PID_TUNING', blocking=True, timeout=5)