From 3dfd06cff2d882f4362535e4b1f2994a429bd5f1 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 28 Sep 2023 17:15:08 +1000
Subject: [PATCH] Tools: add tests for MAV_CMD_DO_LAND_START for both int and
 long

---
 Tools/autotest/arduplane.py | 32 ++++++++++++++++++++++++++++++++
 1 file changed, 32 insertions(+)

diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index cc91fba550..642edfa46e 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -4952,6 +4952,37 @@ class AutoTestPlane(AutoTest):
         self._MAV_CMD_DO_FLIGHTTERMINATION(self.run_cmd)
         self._MAV_CMD_DO_FLIGHTTERMINATION(self.run_cmd_int)
 
+    def MAV_CMD_DO_LAND_START(self):
+        '''test MAV_CMD_DO_LAND_START as mavlink command'''
+        self.set_parameters({
+            "RTL_AUTOLAND": 3,
+        })
+        self.upload_simple_relhome_mission([
+            (mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 30),
+            (mavutil.mavlink.MAV_CMD_NAV_LOITER_UNLIM, 0, 0, 30),
+            self.create_MISSION_ITEM_INT(
+                mavutil.mavlink.MAV_CMD_DO_LAND_START,
+            ),
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 800, 0, 0),
+        ])
+
+        self.change_mode('AUTO')
+        self.wait_ready_to_arm()
+
+        self.arm_vehicle()
+
+        self.start_subtest("DO_LAND_START as COMMAND_LONG")
+        self.wait_current_waypoint(2)
+        self.run_cmd(mavutil.mavlink.MAV_CMD_DO_LAND_START)
+        self.wait_current_waypoint(4)
+
+        self.start_subtest("DO_LAND_START as COMMAND_INT")
+        self.set_current_waypoint(2)
+        self.run_cmd_int(mavutil.mavlink.MAV_CMD_DO_LAND_START)
+        self.wait_current_waypoint(4)
+
+        self.fly_home_land_and_disarm()
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestPlane, self).tests()
@@ -5049,6 +5080,7 @@ class AutoTestPlane(AutoTest):
             self.MAV_CMD_DO_AUTOTUNE_ENABLE,
             self.MAV_CMD_DO_GO_AROUND,
             self.MAV_CMD_DO_FLIGHTTERMINATION,
+            self.MAV_CMD_DO_LAND_START,
         ])
         return ret