From 8fd5df33d5ad4741a20c84bc29cfb1b8f67bca2d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 11 Aug 2022 11:32:28 +1000
Subject: [PATCH] autotest: add test for stick-mixing in auto mode

---
 Tools/autotest/rover.py | 24 ++++++++++++++++++++++++
 1 file changed, 24 insertions(+)

diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
index a3def514c1..df77211cc7 100644
--- a/Tools/autotest/rover.py
+++ b/Tools/autotest/rover.py
@@ -5922,6 +5922,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
         self.delay_sim_time(10)
         self.assert_prearm_failure("Motors Emergency Stopped")
         self.context_pop()
+        self.reboot_sitl()
 
     def assert_mode(self, mode):
         if not self.mode_is(mode):
@@ -5934,6 +5935,25 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
             self.change_mode(x)
             self.assert_mode(want)
 
+    def StickMixingAuto(self):
+        items = []
+        self.set_parameter('STICK_MIXING', 1)
+        # home
+        items.append((mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0, 0),)
+        # 1 waypoint a long way away
+        items.append((mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 2000, 0, 0),)
+        self.upload_simple_relhome_mission(items)
+        if self.mavproxy is not None:
+            # handy for getting pretty pictures
+            self.mavproxy.send("wp list\n")
+        self.change_mode('AUTO')
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+        self.set_rc(1, 1150)
+        self.wait_heading(45)
+        self.wait_heading(90)
+        self.disarm_vehicle()
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestRover, self).tests()
@@ -6184,6 +6204,10 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
              "Ensure EStop prevents arming when asserted at boot time",
              self.EStopAtBoot),
 
+            ("StickMixingAuto",
+             "Ensure Stick Mixing works in auto",
+             self.StickMixingAuto),
+
         ])
         return ret