From 82bc2a7d855c958f1aff7509c2f335db74dce5bd Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 28 Jul 2022 11:06:40 +1000
Subject: [PATCH] autotest: adjust Plane EKF check for new configured-backend
 check

---
 Tools/autotest/arduplane.py | 14 ++++++++------
 Tools/autotest/common.py    | 14 ++++++++++++++
 2 files changed, 22 insertions(+), 6 deletions(-)

diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 5e4d34b851..3cf0ed5121 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -160,12 +160,11 @@ class AutoTestPlane(AutoTest):
                            timeout=180)
         self.progress("RTL Complete")
 
-    def test_need_ekf_to_arm(self):
-        """Loiter where we are."""
+    def NeedEKFToArm(self):
+        """Ensure the EKF must be healthy for the vehicle to arm."""
         self.progress("Ensuring we need EKF to be healthy to arm")
-        self.wait_ready_to_arm()
+        self.set_parameter("SIM_GPS_DISABLE", 1)
         self.context_collect("STATUSTEXT")
-        self.reboot_sitl()
         tstart = self.get_sim_time()
         success = False
         while not success:
@@ -173,7 +172,7 @@ class AutoTestPlane(AutoTest):
                 raise NotAchievedException("Did not get correct failure reason")
             self.send_mavlink_arm_command()
             try:
-                self.wait_statustext(".*(AHRS not healthy|AHRS: Not healthy).*", timeout=1, check_context=True, regex=True)
+                self.wait_statustext(".*AHRS: not using configured AHRS type.*", timeout=1, check_context=True, regex=True)
                 success = True
                 continue
             except AutoTestTimeoutException:
@@ -181,6 +180,9 @@ class AutoTestPlane(AutoTest):
             if self.armed():
                 raise NotAchievedException("Armed unexpectedly")
 
+        self.set_parameter("SIM_GPS_DISABLE", 0)
+        self.wait_ready_to_arm()
+
     def fly_LOITER(self, num_circles=4):
         """Loiter where we are."""
         self.progress("Testing LOITER for %u turns" % num_circles)
@@ -3807,7 +3809,7 @@ function'''
 
             ("NeedEKFToArm",
              "Ensure we need EKF to be healthy to arm",
-             self.test_need_ekf_to_arm),
+             self.NeedEKFToArm),
 
             ("ThrottleFailsafeFence",
              "Fly fence survives throttle failsafe",
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index 388820eba3..ebfe640937 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -1836,6 +1836,17 @@ class AutoTest(ABC):
                      0,
                      0)
 
+    def run_cmd_run_prearms(self):
+        self.run_cmd(mavutil.mavlink.MAV_CMD_RUN_PREARM_CHECKS,
+                     0,
+                     0,
+                     0,
+                     0,
+                     0,
+                     0,
+                     0,
+                     0)
+
     def run_cmd_enable_high_latency(self, new_state):
         p1 = 0
         if new_state:
@@ -6591,6 +6602,9 @@ class AutoTest(ABC):
             if self.sensor_has_state(sensor, present=present, enabled=enabled, healthy=healthy, verbose=verbose):
                 break
 
+    def wait_not_ready_to_arm(self):
+        self.wait_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_PREARM_CHECK, True, True, False)
+
     def wait_prearm_sys_status_healthy(self, timeout=60):
         self.do_timesync_roundtrip()
         tstart = self.get_sim_time()