Tools: autotest: Copter: add battery unhealthy prearm and failsafe test

Tools/autotest/arducopter.py

@@ -1115,6 +1115,43 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
 
         self.progress("All Battery failsafe tests complete")
 
+    def BatteryMissing(self):
+        ''' Test battery health pre-arm and missing failsafe'''
+        self.context_push()
+
+        # Should be good to arm with no changes
+        self.wait_ready_to_arm()
+
+        # Make monitor unhealthy, this should result in unhealthy prearm
+        self.set_parameters({
+            'BATT_VOLT_PIN': -1,
+        })
+
+        self.drain_mav()
+
+        # Battery should go unhealthy immediately
+        self.assert_prearm_failure("Battery 1 unhealthy", other_prearm_failures_fatal=False)
+
+        # Return monitor to health
+        self.context_pop()
+        self.context_push()
+
+        self.wait_ready_to_arm()
+
+        # take off and then trigger in flight
+        self.takeoff(10, mode="LOITER")
+        self.set_parameters({
+            'BATT_VOLT_PIN': -1,
+        })
+
+        # Should trigger missing failsafe
+        self.wait_statustext("Battery 1 is missing")
+
+        # Done, reset params and reboot to clear failsafe
+        self.land_and_disarm()
+        self.context_pop()
+        self.reboot_sitl()
+
     def VibrationFailsafe(self):
         '''Test Vibration Failsafe'''
         self.context_push()
@@ -10449,6 +10486,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
         '''return list of all tests'''
         ret = ([
              self.BatteryFailsafe,
+             self.BatteryMissing,
              self.VibrationFailsafe,
              self.EK3AccelBias,
              self.StabilityPatch,