From a47009e1036dea85825339ee0c9cbafef28200fa Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Wed, 19 Jul 2023 14:10:03 +0100
Subject: [PATCH] autotest: autotest autotune without filtering updates

---
 Tools/autotest/arduplane.py | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index b379a350e1..1ea48afe33 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -3913,6 +3913,18 @@ class AutoTestPlane(AutoTest):
         self.change_mode('FBWA')
         self.fly_home_land_and_disarm(timeout=tdelta+240)
 
+    def AutotuneFiltering(self):
+        '''Test AutoTune mode with filter updates disabled'''
+        self.set_parameters({
+            "AUTOTUNE_OPTIONS": 3,
+            # some filtering is required for autotune to complete
+            "RLL_RATE_FLTD": 10,
+            "PTCH_RATE_FLTD": 10,
+            "RLL_RATE_FLTT": 20,
+            "PTCH_RATE_FLTT": 20,
+        })
+        self.AUTOTUNE()
+
     def LandingDrift(self):
         '''Circuit with baro drift'''
         self.customise_SITL_commandline([], wipe=True)
@@ -4731,6 +4743,7 @@ class AutoTestPlane(AutoTest):
             self.DCMFallback,
             self.MAVFTP,
             self.AUTOTUNE,
+            self.AutotuneFiltering,
             self.MegaSquirt,
             self.MSP_DJI,
             self.SpeedToFly,