From 1530dbde3d328b249ca142174486d093d5b8a81e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 15 Feb 2023 12:11:32 +1100
Subject: [PATCH] autotest: added test of BRD_SD_MISSION

check that we can create and compare 4368 WPs
---
 Tools/autotest/arduplane.py | 49 +++++++++++++++++++++++++++++++++++++
 1 file changed, 49 insertions(+)

diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index de53afd95c..253a0872d1 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -4156,6 +4156,54 @@ class AutoTestPlane(AutoTest):
             else:
                 raise NotAchievedException("Missing trick %s" % t)
 
+    def SDCardWPTest(self):
+        '''test BRD_SD_MISSION support'''
+        spiral_script = "mission_spiral.lua"
+
+        self.context_push()
+        self.install_example_script(spiral_script)
+        self.context_collect('STATUSTEXT')
+        self.set_parameters({
+            "BRD_SD_MISSION" : 64,
+            "SCR_ENABLE" : 1,
+            "SCR_VM_I_COUNT" : 1000000
+            })
+
+        self.wait_ready_to_arm()
+        self.reboot_sitl()
+
+        self.wait_text("Loaded spiral mission creator", check_context=True)
+        self.set_parameters({
+            "SCR_USER2": 19, # radius
+            "SCR_USER3": -35.36322, # lat
+            "SCR_USER4": 149.16525, # lon
+            "SCR_USER5": 684.13, # alt
+        })
+
+        count = (65536 // 15) - 1
+
+        self.progress("Creating spiral mission of size %s" % count)
+        self.set_parameter("SCR_USER1", count)
+
+        self.wait_text("Created spiral of size %u" % count)
+
+        self.progress("Checking spiral before reboot")
+        self.set_parameter("SCR_USER6", count)
+        self.wait_text("Compared spiral of size %u OK" % count)
+        self.set_parameter("SCR_USER6", 0)
+
+        self.wait_ready_to_arm()
+        self.reboot_sitl()
+        self.progress("Checking spiral after reboot")
+        self.set_parameter("SCR_USER6", count)
+        self.wait_text("Compared spiral of size %u OK" % count)
+
+        self.remove_installed_script(spiral_script)
+
+        self.context_pop()
+        self.wait_ready_to_arm()
+        self.reboot_sitl()
+
     def MANUAL_CONTROL(self):
         '''test MANUAL_CONTROL mavlink message'''
         self.set_parameter("SYSID_MYGCS", self.mav.source_system)
@@ -4522,6 +4570,7 @@ class AutoTestPlane(AutoTest):
             self.AirspeedCal,
             self.MissionJumpTags,
             self.GCSFailsafe,
+            self.SDCardWPTest,
         ])
         return ret