From ea206670c43c0c47148d86a04017daa5ebaa67ca Mon Sep 17 00:00:00 2001
From: Shashwat Ganesh <shashwatganesh@protonmail.com>
Date: Sat, 25 Feb 2023 23:52:41 +0530
Subject: [PATCH] Tools: plane: test gcs failsafe: RTL

---
 .../ArduPlane_Tests/GCSFailsafe/flaps.txt     | 13 +++++++++++++
 Tools/autotest/arduplane.py                   | 19 +++++++++++++++++++
 2 files changed, 32 insertions(+)
 create mode 100644 Tools/autotest/ArduPlane_Tests/GCSFailsafe/flaps.txt

diff --git a/Tools/autotest/ArduPlane_Tests/GCSFailsafe/flaps.txt b/Tools/autotest/ArduPlane_Tests/GCSFailsafe/flaps.txt
new file mode 100644
index 0000000000..93d0726c86
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/GCSFailsafe/flaps.txt
@@ -0,0 +1,13 @@
+QGC WPL 110
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.363262	149.165237	584.390015	1
+1	0	3	22	15.000000	0.000000	0.000000	0.000000	-35.361279	149.164230	30.000000	1
+2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361229	149.163025	80.000000	1
+3	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364563	149.163773	80.000000	1
+4	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364384	149.164795	80.000000	1
+5	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361027	149.164093	80.000000	1
+6	0	0	177	2.000000	3.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+7	0	3	189	0.000000	0.000000	0.000000	0.000000	-35.362915	149.162613	60.000000	1
+8	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.363136	149.162750	60.000000	1
+9	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365467	149.164215	55.000000	1
+10	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365009	149.165482	39.889999	1
+11	0	3	21	0.000000	0.000000	0.000000	1.000000	-35.363041	149.165222	0.000000	1
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index a3900b007a..6a96099648 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -1164,6 +1164,24 @@ class AutoTestPlane(AutoTest):
             raise NotAchievedException("Fence not enabled after RC fail")
         self.do_fence_disable() # Ensure the fence is disabled after test
 
+    def GCSFailsafe(self):
+        '''Ensure Long-Failsafe works on GCS loss'''
+        self.start_subtest("Test Failsafe: RTL")
+        self.load_sample_mission()
+        self.set_parameter("RTL_AUTOLAND", 1)
+        self.change_mode("AUTO")
+        self.takeoff()
+        self.set_parameter("FS_GCS_ENABL", 1)
+        self.set_parameter("FS_LONG_ACTN", 1)
+        self.progress("Disconnecting GCS")
+        self.set_heartbeat_rate(0)
+        self.delay_sim_time(5)
+        self.wait_mode("RTL")
+        self.set_heartbeat_rate(self.speedup)
+        self.fly_home_land_and_disarm()
+        self.end_subtest("Completed RTL Failsafe test")
+
+
     def TestGripperMission(self):
         '''Test Gripper mission items'''
         self.context_push()
@@ -4470,6 +4488,7 @@ class AutoTestPlane(AutoTest):
             self.AltResetBadGPS,
             self.AirspeedCal,
             self.MissionJumpTags,
+            self.GCSFailsafe,
         ])
         return ret