autotest: add tests for AVD_F_ALT_MIN

Tools/autotest/arducopter.py

@@ -7532,6 +7532,46 @@ class AutoTestCopter(AutoTest):
         if ex is not None:
             raise ex
 
+    def AP_Avoidance(self):
+        self.set_parameters({
+            "AVD_ENABLE": 1,
+            "ADSB_TYPE": 1,  # mavlink
+            "AVD_F_ACTION": 2,  # climb or descend
+        })
+        self.reboot_sitl()
+
+        self.wait_ready_to_arm()
+
+        here = self.mav.location()
+
+        self.context_push()
+
+        self.start_subtest("F_ALT_MIN zero - disabled, can't arm in face of threat")
+        self.set_parameters({
+            "AVD_F_ALT_MIN": 0,
+        })
+        self.wait_ready_to_arm()
+        self.test_adsb_send_threatening_adsb_message(here)
+        self.delay_sim_time(1)
+        self.try_arm(result=False,
+                     expect_msg="ADSB threat detected")
+
+        self.wait_ready_to_arm(timeout=60)
+
+        self.context_pop()
+
+        self.start_subtest("F_ALT_MIN 16m relative - arm in face of threat")
+        self.context_push()
+        self.set_parameters({
+            "AVD_F_ALT_MIN": int(16 + here.alt),
+        })
+        self.wait_ready_to_arm()
+        self.test_adsb_send_threatening_adsb_message(here)
+#        self.delay_sim_time(1)
+        self.arm_vehicle()
+        self.disarm_vehicle()
+        self.context_pop()
+
     def PAUSE_CONTINUE(self):
         self.load_mission("copter_mission.txt", strict=False)
 
@@ -8163,6 +8203,10 @@ class AutoTestCopter(AutoTest):
                  "Check GSF",
                  self.test_gsf),
 
+            Test("AP_Avoidance",
+                 "ADSB-based avoidance",
+                 self.AP_Avoidance),
+
             Test("SMART_RTL",
                  "Check SMART_RTL",
                  self.test_SMART_RTL),

Tools/autotest/arduplane.py

@@ -1934,24 +1934,6 @@ class AutoTestPlane(AutoTest):
                 continue
             last_collision = now
 
-    def test_adsb_send_threatening_adsb_message(self, here):
-        self.progress("Sending ABSD_VEHICLE message")
-        self.mav.mav.adsb_vehicle_send(
-            37, # ICAO address
-            int(here.lat * 1e7),
-            int(here.lng * 1e7),
-            mavutil.mavlink.ADSB_ALTITUDE_TYPE_PRESSURE_QNH,
-            int(here.alt*1000 + 10000), # 10m up
-            0, # heading in cdeg
-            0, # horizontal velocity cm/s
-            0, # vertical velocity cm/s
-            "bob".encode("ascii"), # callsign
-            mavutil.mavlink.ADSB_EMITTER_TYPE_LIGHT,
-            1, # time since last communication
-            65535, # flags
-            17 # squawk
-        )
-
     def SimADSB(self):
         '''trivial tests to ensure simulated ADSB sensor continues to
 function'''

Tools/autotest/common.py

@@ -1995,6 +1995,24 @@ class AutoTest(ABC):
                 htree[n] = p
         return htree
 
+    def test_adsb_send_threatening_adsb_message(self, here):
+        self.progress("Sending ABSD_VEHICLE message")
+        self.mav.mav.adsb_vehicle_send(
+            37, # ICAO address
+            int(here.lat * 1e7),
+            int(here.lng * 1e7),
+            mavutil.mavlink.ADSB_ALTITUDE_TYPE_PRESSURE_QNH,
+            int(here.alt*1000 + 10000), # 10m up
+            0, # heading in cdeg
+            0, # horizontal velocity cm/s
+            0, # vertical velocity cm/s
+            "bob".encode("ascii"), # callsign
+            mavutil.mavlink.ADSB_EMITTER_TYPE_LIGHT,
+            1, # time since last communication
+            65535, # flags
+            17 # squawk
+        )
+
     def test_parameter_documentation_get_all_parameters(self):
         xml_filepath = os.path.join(self.buildlogs_dirpath(), "apm.pdef.xml")
         param_parse_filepath = os.path.join(self.rootdir(), 'Tools', 'autotest', 'param_metadata', 'param_parse.py')