From 4ff6f603b2f0e2eb21ee221e5bf2b890b8db990e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 3 Sep 2024 18:45:35 +1000
Subject: [PATCH] autotest: add --enable-fgview option

---
 Tools/autotest/autotest.py           | 4 ++++
 Tools/autotest/pysim/util.py         | 4 ++--
 Tools/autotest/vehicle_test_suite.py | 3 +++
 3 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/Tools/autotest/autotest.py b/Tools/autotest/autotest.py
index d11c11ff0e..74f08297f1 100755
--- a/Tools/autotest/autotest.py
+++ b/Tools/autotest/autotest.py
@@ -516,6 +516,7 @@ def run_step(step):
         "reset_after_every_test": opts.reset_after_every_test,
         "build_opts": copy.copy(build_opts),
         "generate_junit": opts.junit,
+        "enable_fgview": opts.enable_fgview,
     }
     if opts.speedup is not None:
         fly_opts["speedup"] = opts.speedup
@@ -862,6 +863,9 @@ if __name__ == "__main__":
     parser.add_option("--viewerip",
                       default=None,
                       help='IP address to send MAVLink and fg packets to')
+    parser.add_option("--enable-fgview",
+                      action='store_true',
+                      help="Enable FlightGear output")
     parser.add_option("--map",
                       action='store_true',
                       default=False,
diff --git a/Tools/autotest/pysim/util.py b/Tools/autotest/pysim/util.py
index 1830e8f82a..2c84afe8da 100644
--- a/Tools/autotest/pysim/util.py
+++ b/Tools/autotest/pysim/util.py
@@ -428,7 +428,7 @@ def start_SITL(binary,
                disable_breakpoints=False,
                customisations=[],
                lldb=False,
-               enable_fgview_output=False,
+               enable_fgview=False,
                supplementary=False,
                stdout_prefix=None):
 
@@ -534,7 +534,7 @@ def start_SITL(binary,
             cmd.extend(['--unhide-groups'])
         # somewhere for MAVProxy to connect to:
         cmd.append('--serial1=tcp:2')
-        if enable_fgview_output:
+        if enable_fgview:
             cmd.append("--enable-fgview")
 
     if len(defaults):
diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py
index 7b44dc3aca..8ac22b6ede 100644
--- a/Tools/autotest/vehicle_test_suite.py
+++ b/Tools/autotest/vehicle_test_suite.py
@@ -1865,6 +1865,7 @@ class TestSuite(ABC):
                  num_aux_imus=0,
                  dronecan_tests=False,
                  generate_junit=False,
+                 enable_fgview=False,
                  build_opts={}):
 
         self.start_time = time.time()
@@ -1931,6 +1932,7 @@ class TestSuite(ABC):
         self.last_heartbeat_time_wc_s = 0
         self.in_drain_mav = False
         self.tlog = None
+        self.enable_fgview = enable_fgview
 
         self.rc_thread = None
         self.rc_thread_should_quit = False
@@ -9100,6 +9102,7 @@ Also, ignores heartbeats not from our target system'''
             "valgrind": self.valgrind,
             "callgrind": self.callgrind,
             "wipe": True,
+            "enable_fgview": self.enable_fgview,
         }
         start_sitl_args.update(**sitl_args)
         if ("defaults_filepath" not in start_sitl_args or