Tools: add test for ArmingSwitch after reboot

Tools/autotest/arducopter.py

@@ -10277,6 +10277,29 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
         self.run_cmd_int(mavutil.mavlink.MAV_CMD_DO_SET_SAFETY_SWITCH_STATE, mavutil.mavlink.SAFETY_SWITCH_STATE_DANGEROUS)
         self.wait_ready_to_arm()
 
+    def ArmSwitchAfterReboot(self):
+        '''test that the arming switch does not trigger after a reboot'''
+        self.wait_ready_to_arm()
+        self.set_parameters({
+            "RC8_OPTION": 153,
+        })
+        self.set_rc(8, 2000)
+        self.wait_armed()
+        self.disarm_vehicle()
+        self.context_collect('STATUSTEXT')
+        self.reboot_sitl()
+
+        tstart = self.get_sim_time()
+        while True:
+            if self.get_sim_time_cached() - tstart > 60:
+                break
+            if self.armed():
+                raise NotAchievedException("Armed after reboot with switch high")
+            armmsg = self.statustext_in_collections('Arm: ')
+            if armmsg is not None:
+                raise NotAchievedException("statustext(%s) means we tried to arm" % armmsg.text)
+        self.progress("Did not arm via arming switfch after a reboot")
+
     def GuidedYawRate(self):
         '''ensuer guided yaw rate is not affected by rate of sewt-attitude messages'''
         self.takeoff(30, mode='GUIDED')
@@ -10796,6 +10819,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
             self.GuidedYawRate,
             self.NoArmWithoutMissionItems,
             self.DO_CHANGE_SPEED_in_guided,
+            self.ArmSwitchAfterReboot,
             self.RPLidarA1,
             self.RPLidarA2,
             self.SafetySwitch,