autotest: added quadplane ShipLanding test

Tools/autotest/ArduPlane_Tests/ShipLanding/takeoff100.txt

@@ -0,0 +1,3 @@
+QGC WPL 110
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	37.625620	-122.332354	0.100000	1
+1	0	3	84	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	100.000000	1

Tools/autotest/quadplane.py

@@ -1341,11 +1341,11 @@ class AutoTestQuadPlane(vehicle_test_suite.TestSuite):
 
         self.install_applet_script(applet_script)
 
-        target = mavutil.location(-27.27440414, 151.28984285, 342.8, 0)
+        here = self.mav.location()
+        target = self.offset_location_ne(here, 20, 0)
 
         self.set_parameters({
             "SCR_ENABLE": 1,
-            "SIM_SPEEDUP": 4,
             "PLND_ENABLED": 1,
             "PLND_TYPE": 4,
             "SIM_PLD_ENABLE":   1,
@@ -1367,6 +1367,7 @@ class AutoTestQuadPlane(vehicle_test_suite.TestSuite):
         self.context_collect('STATUSTEXT')
         self.set_parameters({
             "PLND_ALT_CUTOFF" : 5,
+            "SIM_SPEEDUP" : 10,
             })
 
         self.scripting_restart()
@@ -1393,6 +1394,61 @@ class AutoTestQuadPlane(vehicle_test_suite.TestSuite):
         self.remove_installed_script(applet_script)
         self.reboot_sitl()
 
+    def ShipLanding(self):
+        '''ship landing test'''
+        applet_script = "plane_ship_landing.lua"
+
+        self.install_applet_script(applet_script)
+
+        self.set_parameters({
+            "SCR_ENABLE": 1,
+            "SIM_SHIP_ENABLE": 1,
+            "SIM_SHIP_SPEED": 5,
+            "SIM_SHIP_DSIZE": 10,
+            "FOLL_ENABLE": 1,
+            "FOLL_SYSID": 17,
+            "FOLL_OFS_TYPE": 1,
+            "SIM_TERRAIN" : 0,
+            "TERRAIN_ENABLE" : 0,
+        })
+
+        self.load_mission("takeoff100.txt")
+
+        self.reboot_sitl(check_position=False)
+
+        self.context_push()
+        self.context_collect('STATUSTEXT')
+        self.set_parameters({
+            "SHIP_ENABLE" : 1,
+            "SIM_SPEEDUP" : 10,
+            })
+
+        self.scripting_restart()
+        self.wait_text("ShipLanding: loaded", check_context=True)
+
+        self.wait_ready_to_arm()
+        self.change_mode("AUTO")
+        self.arm_vehicle()
+        self.wait_altitude(95, 105, relative=True, timeout=90)
+        self.drain_mav()
+
+        self.wait_text("Mission complete, changing mode to RTL", check_context=True, timeout=60)
+        self.wait_text("Descending for approach", check_context=True, timeout=60)
+        self.wait_text("Reached target altitude", check_context=True, timeout=120)
+        self.wait_text("Starting approach", check_context=True, timeout=120)
+        self.wait_text("Land complete", check_context=True, timeout=120)
+
+        self.wait_disarmed(timeout=180)
+
+        # we confirm successful landing on the ship from our ground speed. The
+        # deck is just 10m in size, so we must be within 10m if we are moving
+        # with the deck
+        self.wait_groundspeed(4.8, 5.2)
+
+        self.context_pop()
+        self.remove_installed_script(applet_script)
+        self.reboot_sitl(check_position=False)
+
     def RCDisableAirspeedUse(self):
         '''check disabling airspeed using RC switch'''
         self.set_parameter("RC9_OPTION", 106)
@@ -1637,6 +1693,7 @@ class AutoTestQuadPlane(vehicle_test_suite.TestSuite):
             self.VTOLLandSpiral,
             self.VTOLQuicktune,
             self.PrecisionLanding,
+            self.ShipLanding,
             Test(self.MotorTest, kwargs={  # tests motors 4 and 2
                 "mot1_servo_chan": 8,  # quad-x second motor cw from f-r
                 "mot4_servo_chan": 6,  # quad-x third motor cw from f-r

Tools/autotest/vehicle_test_suite.py

@@ -2002,14 +2002,14 @@ class TestSuite(ABC):
                                        0,
                                        0)
 
-    def reboot_sitl(self, required_bootcount=None, force=False):
+    def reboot_sitl(self, required_bootcount=None, force=False, check_position=True):
         """Reboot SITL instance and wait for it to reconnect."""
         if self.armed() and not force:
             raise NotAchievedException("Reboot attempted while armed")
         self.progress("Rebooting SITL")
         self.reboot_sitl_mav(required_bootcount=required_bootcount, force=force)
         self.do_heartbeats(force=True)
-        if self.frame != 'sailboat':  # sailboats drift with wind!
+        if check_position and self.frame != 'sailboat':  # sailboats drift with wind!
             self.assert_simstate_location_is_at_startup_location()
 
     def reboot_sitl_mavproxy(self, required_bootcount=None):