From abd5daccbbd3b35a8dc97b3745782623129890c7 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 30 Sep 2021 13:16:32 +1000
Subject: [PATCH] autotest: augment HIGH_LATENCY2 test with location test

---
 Tools/autotest/common.py | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index 2a2e372a31..91c4e2489f 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -2484,6 +2484,17 @@ class AutoTest(ABC):
         if (m.failure_flags & mavutil.mavlink.HL_FAILURE_FLAG_GPS) == 0:
             raise NotAchievedException("Expected GPS to be failed")
 
+        self.start_subtest("HIGH_LATENCY2 location")
+        self.set_parameter("SIM_GPS_TYPE", 1)
+        self.delay_sim_time(10)
+        m = self.poll_message("HIGH_LATENCY2")
+        mavutil.dump_message_verbose(sys.stdout, m)
+        loc = mavutil.location(m.latitude, m.longitude, m.altitude, 0)
+        dist = self.get_distance_accurate(loc, self.sim_location_int())
+
+        if dist > 1:
+            raise NotAchievedException("Bad location from HIGH_LATENCY2")
+
     def test_log_download(self):
         if self.is_tracker():
             # tracker starts armed, which is annoying