From ac237eea4b7645a0a7ff54ce3f14ed53367201cd Mon Sep 17 00:00:00 2001
From: Peter Hall <33176108+IamPete1@users.noreply.github.com>
Date: Tue, 13 Aug 2019 22:24:00 +0100
Subject: [PATCH] Tools: autotest: update sailboat default params and add
 sailboat-motor frame

---
 .../autotest/default_params/sailboat-motor.parm  | 16 ++++++++++++++++
 Tools/autotest/default_params/sailboat.parm      |  1 +
 Tools/autotest/pysim/vehicleinfo.py              |  5 +++++
 3 files changed, 22 insertions(+)
 create mode 100644 Tools/autotest/default_params/sailboat-motor.parm

diff --git a/Tools/autotest/default_params/sailboat-motor.parm b/Tools/autotest/default_params/sailboat-motor.parm
new file mode 100644
index 0000000000..de9ac2f0be
--- /dev/null
+++ b/Tools/autotest/default_params/sailboat-motor.parm
@@ -0,0 +1,16 @@
+FRAME_CLASS 2
+LOIT_TYPE 1
+LOIT_RADIUS 5
+MOT_SLEWRATE 0
+SERVO4_FUNCTION 89
+SERVO4_MIN 1000
+SERVO4_MAX 2000
+SIM_WIND_SPD 3
+SIM_WIND_T 1
+WNDVN_TYPE 10
+WNDVN_SPEED_TYPE 10
+WP_OVERSHOOT 10
+SAIL_ENABLE 1
+RPM_MIN 0
+RPM_TYPE 3
+ARSPD_OFFSET 2013
diff --git a/Tools/autotest/default_params/sailboat.parm b/Tools/autotest/default_params/sailboat.parm
index de9ac2f0be..3a4a6db9cb 100644
--- a/Tools/autotest/default_params/sailboat.parm
+++ b/Tools/autotest/default_params/sailboat.parm
@@ -14,3 +14,4 @@ SAIL_ENABLE 1
 RPM_MIN 0
 RPM_TYPE 3
 ARSPD_OFFSET 2013
+SERVO3_FUNCTION 0
diff --git a/Tools/autotest/pysim/vehicleinfo.py b/Tools/autotest/pysim/vehicleinfo.py
index 925fa89512..6ee59c3b9b 100644
--- a/Tools/autotest/pysim/vehicleinfo.py
+++ b/Tools/autotest/pysim/vehicleinfo.py
@@ -242,6 +242,11 @@ class VehicleInfo(object):
                 "default_params_filename": ["default_params/rover.parm",
                                             "default_params/sailboat.parm"],
             },
+            "sailboat-motor": {
+                "waf_target": "bin/ardurover",
+                "default_params_filename": ["default_params/rover.parm",
+                                            "default_params/sailboat-motor.parm"],
+            },
             "gazebo-rover": {
                 "waf_target": "bin/ardurover",
                 "default_params_filename": ["default_params/rover.parm",