From 6fcf85edb838bfe0b5695071de02cc5a0790c886 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 9 Mar 2022 08:15:15 +1100
Subject: [PATCH] autotest: more changes for plane disarm disallow

---
 Tools/autotest/arduplane.py |  8 ++++----
 Tools/autotest/common.py    | 18 +++++++++++++++++-
 Tools/autotest/quadplane.py | 15 +--------------
 3 files changed, 22 insertions(+), 19 deletions(-)

diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 1668fc401b..570fa365a6 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -1038,7 +1038,7 @@ class AutoTestPlane(AutoTest):
             "SIM_RC_FAIL": 0,  # fix receiver
         })
         self.zero_throttle()
-        self.disarm_vehicle()
+        self.disarm_vehicle(force=True)
         self.context_pop()
         self.reboot_sitl()
 
@@ -2268,7 +2268,7 @@ function'''
         self.wait_waypoint(4, 4, timeout=1200, max_dist=120)
 
         # Disarm
-        self.disarm_vehicle()
+        self.disarm_vehicle_expect_fail()
 
         self.progress("Mission OK")
 
@@ -2365,7 +2365,7 @@ function'''
             raise NotAchievedException("Airspeed did not reduce with lower SOAR_VSPEED")
 
         # Disarm
-        self.disarm_vehicle()
+        self.disarm_vehicle_expect_fail()
 
         self.progress("Mission OK")
 
@@ -2872,7 +2872,7 @@ function'''
             self.context_clear_collection("STATUSTEXT")
             ###################################################################
 
-            self.disarm_vehicle()
+            self.disarm_vehicle(force=True)
 
         except Exception as e:
             self.print_exception_caught(e)
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index 7efa598cc7..8da34d53dc 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -4361,6 +4361,22 @@ class AutoTest(ABC):
                      timeout=timeout)
         return self.wait_disarmed()
 
+    def disarm_vehicle_expect_fail(self):
+        '''disarm, checking first that non-forced disarm fails, then doing a forced disarm'''
+        self.progress("Disarm - expect to fail")
+        self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
+                     0,  # DISARM
+                     0,
+                     0,
+                     0,
+                     0,
+                     0,
+                     0,
+                     timeout=10,
+                     want_result=mavutil.mavlink.MAV_RESULT_FAILED)
+        self.progress("Disarm - forced")
+        self.disarm_vehicle(force=True)
+
     def wait_disarmed_default_wait_time(self):
         return 30
 
@@ -11191,7 +11207,7 @@ switch value'''
         # ok done, stop the engine
         if self.is_plane():
             self.zero_throttle()
-            if not self.disarm_vehicle():
+            if not self.disarm_vehicle(force=True):
                 raise NotAchievedException("Failed to DISARM")
 
     def test_frsky_d(self):
diff --git a/Tools/autotest/quadplane.py b/Tools/autotest/quadplane.py
index 4ede8602c3..923e9b4ed9 100644
--- a/Tools/autotest/quadplane.py
+++ b/Tools/autotest/quadplane.py
@@ -248,20 +248,7 @@ class AutoTestQuadPlane(AutoTest):
             self.progress("Waiting for Motor1 to speed up")
             self.wait_servo_channel_value(5, spin_min_pwm, comparator=operator.ge)
 
-            self.progress("Disarm/rearm with GCS - expect to fail")
-            self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
-                         0,  # DISARM
-                         0,
-                         0,
-                         0,
-                         0,
-                         0,
-                         0,
-                         timeout=10,
-                         want_result=mavutil.mavlink.MAV_RESULT_FAILED)
-
-            self.progress("Disarm/rearm with GCS - forced")
-            self.disarm_vehicle(force=True)
+            self.disarm_vehicle_expect_fail()
             self.arm_vehicle()
 
             self.progress("Verify that airmode is still on")