From ad702370134144b0869f32850d0e36c5afcce1b5 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 26 Sep 2023 16:25:02 +1000
Subject: [PATCH] Tools: handle MAV_CMD_DO_FLIGHTTERMINATION as both long and
 int

---
 Tools/autotest/arducopter.py | 18 ++++++++++++++++++
 Tools/autotest/arduplane.py  | 20 ++++++++++++++++++++
 2 files changed, 38 insertions(+)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 4559da65fa..c0a9a0638f 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -10264,6 +10264,23 @@ class AutoTestCopter(AutoTest):
         self.disarm_vehicle(force=True)
         self.reboot_sitl()
 
+    def _MAV_CMD_DO_FLIGHTTERMINATION(self, command):
+        self.set_parameters({
+            "SYSID_MYGCS": self.mav.source_system,
+            "DISARM_DELAY": 0,
+        })
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+        self.context_collect('STATUSTEXT')
+        command(mavutil.mavlink.MAV_CMD_DO_FLIGHTTERMINATION, p1=1)
+        self.wait_disarmed()
+        self.reboot_sitl()
+
+    def MAV_CMD_DO_FLIGHTTERMINATION(self):
+        '''test MAV_CMD_DO_FLIGHTTERMINATION works on Copter'''
+        self._MAV_CMD_DO_FLIGHTTERMINATION(self.run_cmd)
+        self._MAV_CMD_DO_FLIGHTTERMINATION(self.run_cmd_int)
+
     def tests2b(self):  # this block currently around 9.5mins here
         '''return list of all tests'''
         ret = ([
@@ -10328,6 +10345,7 @@ class AutoTestCopter(AutoTest):
             self.RPLidarA2,
             self.SafetySwitch,
             self.BrakeZ,
+            self.MAV_CMD_DO_FLIGHTTERMINATION,
         ])
         return ret
 
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 17a4c22fdb..c8d6023560 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -4926,6 +4926,25 @@ class AutoTestPlane(AutoTest):
         self._MAV_CMD_DO_GO_AROUND(self.run_cmd)
         self._MAV_CMD_DO_GO_AROUND(self.run_cmd_int)
 
+    def _MAV_CMD_DO_FLIGHTTERMINATION(self, command):
+        self.set_parameters({
+            "AFS_ENABLE": 1,
+            "SYSID_MYGCS": self.mav.source_system,
+            "AFS_TERM_ACTION": 42,
+        })
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+        self.context_collect('STATUSTEXT')
+        command(mavutil.mavlink.MAV_CMD_DO_FLIGHTTERMINATION, p1=1)
+        self.wait_disarmed()
+        self.wait_text('Terminating due to GCS request', check_context=True)
+        self.reboot_sitl()
+
+    def MAV_CMD_DO_FLIGHTTERMINATION(self):
+        '''test MAV_CMD_DO_FLIGHTTERMINATION works on Plane'''
+        self._MAV_CMD_DO_FLIGHTTERMINATION(self.run_cmd)
+        self._MAV_CMD_DO_FLIGHTTERMINATION(self.run_cmd_int)
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestPlane, self).tests()
@@ -5022,6 +5041,7 @@ class AutoTestPlane(AutoTest):
             self.MAV_CMD_DO_INVERTED_FLIGHT,
             self.MAV_CMD_DO_AUTOTUNE_ENABLE,
             self.MAV_CMD_DO_GO_AROUND,
+            self.MAV_CMD_DO_FLIGHTTERMINATION,
         ])
         return ret