From 7dc6dee5a00a89904ba9a1003d8fc17b079dec86 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Mon, 6 Mar 2023 14:00:24 +0000
Subject: [PATCH] autotest: test Yaw D autotune

---
 Tools/autotest/arducopter.py | 40 ++++++++++++++++++++++++++++++++++++
 1 file changed, 40 insertions(+)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 5a9f3e4f92..5e30a0bb97 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -2325,6 +2325,45 @@ class AutoTestCopter(AutoTest):
         raise NotAchievedException("AUTOTUNE failed (%u seconds)" %
                                    (self.get_sim_time() - tstart))
 
+    def AutoTuneYawD(self):
+        """Test autotune mode"""
+
+        rlld = self.get_parameter("ATC_RAT_RLL_D")
+        rlli = self.get_parameter("ATC_RAT_RLL_I")
+        rllp = self.get_parameter("ATC_RAT_RLL_P")
+        self.set_parameter("ATC_RAT_RLL_SMAX", 1)
+        self.set_parameter("AUTOTUNE_AXES", 15)
+        self.takeoff(10)
+
+        # hold position in loiter
+        self.change_mode('AUTOTUNE')
+
+        tstart = self.get_sim_time()
+        sim_time_expected = 5000
+        deadline = tstart + sim_time_expected
+        while self.get_sim_time_cached() < deadline:
+            now = self.get_sim_time_cached()
+            m = self.mav.recv_match(type='STATUSTEXT',
+                                    blocking=True,
+                                    timeout=1)
+            if m is None:
+                continue
+            self.progress("STATUSTEXT (%u<%u): %s" % (now, deadline, m.text))
+            if "AutoTune: Success" in m.text:
+                self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
+                # near enough for now:
+                self.change_mode('LAND')
+                self.wait_landed_and_disarmed()
+                # check the original gains have been re-instated
+                if (rlld != self.get_parameter("ATC_RAT_RLL_D") or
+                        rlli != self.get_parameter("ATC_RAT_RLL_I") or
+                        rllp != self.get_parameter("ATC_RAT_RLL_P")):
+                    raise NotAchievedException("AUTOTUNE gains still present")
+                return
+
+        raise NotAchievedException("AUTOTUNE failed (%u seconds)" %
+                                   (self.get_sim_time() - tstart))
+
     def AutoTuneSwitch(self):
         """Test autotune on a switch with gains being saved"""
 
@@ -9553,6 +9592,7 @@ class AutoTestCopter(AutoTest):
              self.AuxSwitchOptions,
              self.AuxFunctionsInMission,
              self.AutoTune,
+             self.AutoTuneYawD,
              self.NoRCOnBootPreArmFailure,
         ])
         return ret