From 6b961602798bff3398649c924828730814776416 Mon Sep 17 00:00:00 2001
From: Samuel Tabor <samuelctabor@gmail.com>
Date: Tue, 1 Dec 2020 07:14:34 +0000
Subject: [PATCH] autotest: Add plane test for landing with barometer drift.

---
 .../Landing-Drift/ap-circuit.txt              | 11 +++++++++
 Tools/autotest/arduplane.py                   | 24 +++++++++++++++++++
 2 files changed, 35 insertions(+)
 create mode 100644 Tools/autotest/ArduPlane_Tests/Landing-Drift/ap-circuit.txt

diff --git a/Tools/autotest/ArduPlane_Tests/Landing-Drift/ap-circuit.txt b/Tools/autotest/ArduPlane_Tests/Landing-Drift/ap-circuit.txt
new file mode 100644
index 0000000000..57778951a7
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/Landing-Drift/ap-circuit.txt
@@ -0,0 +1,11 @@
+QGC WPL 110
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.363257	149.165237	584.099976	1
+1	0	3	22	15.000000	0.000000	0.000000	0.000000	0.000000	0.000000	80.000000	1
+2	0	3	19	600.000000	0.000000	1.000000	0.000000	-35.356752	149.164022	100.000000	1
+3	0	3	189	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	100.000000	1
+4	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.360205	149.164455	100.430000	1
+5	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.360629	149.160695	94.470001	1
+6	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.368664	149.161993	83.139999	1
+7	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.368122	149.166056	60.000000	1
+8	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.366814	149.165878	50.000000	1
+9	0	3	21	0.000000	0.000000	0.000000	1.000000	-35.362911	149.165222	0.000000	1
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 0cdefa0b19..c71bab7b52 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -2953,6 +2953,26 @@ class AutoTestPlane(AutoTest):
             True,
             True)
 
+    def fly_landing_baro_drift(self):
+
+        self.customise_SITL_commandline([], wipe=True)
+
+        self.set_parameters({
+            "SIM_BARO_DRIFT": -0.02,
+            "SIM_TERRAIN": 0,
+            "RNGFND_LANDING": 1,
+            "RNGFND1_MAX_CM": 4000,
+            "LAND_SLOPE_RCALC": 2,
+            "LAND_ABORT_DEG": 2,
+        })
+
+        self.reboot_sitl()
+
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+
+        self.fly_mission("ap-circuit.txt", mission_timeout=1200)
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestPlane, self).tests()
@@ -3150,6 +3170,10 @@ class AutoTestPlane(AutoTest):
              "Test RC DisableAirspeedUse option",
              self.RCDisableAirspeedUse),
 
+            ("Landing-Drift",
+             "Circuit with baro drift",
+             self.fly_landing_baro_drift),
+
             ("LogUpload",
              "Log upload",
              self.log_upload),