autotest: add test for PILOT_THR_BHV parameter

Tools/autotest/arducopter.py

@@ -25,6 +25,7 @@ import vehicle_test_suite
 from vehicle_test_suite import NotAchievedException, AutoTestTimeoutException, PreconditionFailedException
 from vehicle_test_suite import Test
 from vehicle_test_suite import MAV_POS_TARGET_TYPE_MASK
+from vehicle_test_suite import WaitAndMaintainArmed
 
 from pymavlink.rotmat import Vector3
 
@@ -10705,6 +10706,32 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
 
         self.do_RTL()
 
+    def PILOT_THR_BHV(self):
+        '''test the PILOT_THR_BHV parameter'''
+        self.start_subtest("Test default behaviour, no disarm on land")
+        self.set_parameters({
+            "DISARM_DELAY": 0,
+        })
+        self.takeoff(2, mode='GUIDED')
+        self.set_rc(3, 1500)
+        self.change_mode('LOITER')
+        self.set_rc(3, 1300)
+
+        maintain_armed = WaitAndMaintainArmed(self, minimum_duration=20)
+        maintain_armed.run()
+
+        self.start_subtest("Test THR_BEHAVE_DISARM_ON_LAND_DETECT")
+        self.set_parameters({
+            "PILOT_THR_BHV": 4,  # Disarm on land detection
+        })
+        self.zero_throttle()
+        self.takeoff(2, mode='GUIDED')
+        self.set_rc(3, 1500)
+        self.change_mode('LOITER')
+        self.set_rc(3, 1300)
+
+        self.wait_disarmed()
+
     def tests2b(self):  # this block currently around 9.5mins here
         '''return list of all tests'''
         ret = ([
@@ -10779,6 +10806,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
             self.MAV_CMD_NAV_TAKEOFF,
             self.MAV_CMD_NAV_TAKEOFF_command_int,
             self.Ch6TuningWPSpeed,
+            self.PILOT_THR_BHV,
         ])
         return ret