From 8c35ddc0ebea520b164237b8dd5d4e738ad1a2a8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 1 Mar 2019 10:04:23 +1100
Subject: [PATCH] Tools: autotest: add PID_TUNING test

---
 Tools/autotest/arduplane.py |  4 ++++
 Tools/autotest/common.py    | 15 +++++++++++++++
 Tools/autotest/quadplane.py |  4 ++++
 3 files changed, 23 insertions(+)

diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 4efa18dffe..ac77b35f77 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -870,6 +870,10 @@ class AutoTestPlane(AutoTest):
     def default_mode(self):
         return "MANUAL"
 
+    def test_pid_tuning(self):
+        self.change_mode("FBWA") # we don't update PIDs in MANUAL
+        super(AutoTestPlane, self).test_pid_tuning()
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestPlane, self).tests()
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index bc38a1f631..b3b8ed519c 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -2265,8 +2265,23 @@ switch value'''
     def disabled_tests(self):
         return {}
 
+    def test_pid_tuning(self):
+        self.progress("making sure we're not getting PID_TUNING messages")
+        m = self.mav.recv_match(type='PID_TUNING', blocking=True, timeout=1)
+        if m is not None:
+            raise PreconditionFailedException("Receiving PID_TUNING already")
+        self.set_parameter("GCS_PID_MASK", 1)
+        self.progress("making sure we are now getting PID_TUNING messages")
+        m = self.mav.recv_match(type='PID_TUNING', blocking=True, timeout=1)
+        if m is None:
+            raise PreconditionFailedException("Did not start to get PID_TUNING message")
+
     def tests(self):
         return [
+            ("PIDTuning",
+             "Test PID Tuning",
+             self.test_pid_tuning),
+
             ("ArmFeatures", "Arm features", self.test_arm_feature),
 
             ("SetHome",
diff --git a/Tools/autotest/quadplane.py b/Tools/autotest/quadplane.py
index e165a319e3..b2f91ca9f6 100644
--- a/Tools/autotest/quadplane.py
+++ b/Tools/autotest/quadplane.py
@@ -186,6 +186,10 @@ class AutoTestQuadPlane(AutoTest):
                 return
         self.mav.motors_disarmed_wait()
 
+    def test_pid_tuning(self):
+        self.change_mode("FBWA") # we don't update PIDs in MANUAL
+        super(AutoTestQuadPlane, self).test_pid_tuning()
+
     def default_mode(self):
         return "MANUAL"