autotest: Added TKOFF_THR_MIN test

Tools/autotest/quadplane.py

@@ -1556,6 +1556,29 @@ class AutoTestQuadPlane(vehicle_test_suite.TestSuite):
 
         self.fly_home_land_and_disarm()
 
+    def TransitionMinThrottle(self):
+        '''Ensure that TKOFF_THR_MIN is applied during the forward transition'''
+        wps = self.create_simple_relhome_mission([
+            (mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 30),
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 2000, 0, 30),
+            (mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0),
+        ])
+        self.check_mission_upload_download(wps)
+        self.set_parameter('TKOFF_THR_MIN', 80)
+
+        self.change_mode('AUTO')
+        self.wait_ready_to_arm()
+
+        self.arm_vehicle()
+        self.wait_current_waypoint(2)
+        # Wait for 5 seconds into the transition.
+        self.delay_sim_time(5)
+        # Ensure TKOFF_THR_MIN is still respected.
+        thr_min = self.get_parameter('TKOFF_THR_MIN')
+        self.wait_servo_channel_value(3, 1000+thr_min*10, comparator=operator.eq)
+
+        self.fly_home_land_and_disarm()
+
     def MAV_CMD_NAV_TAKEOFF(self):
         '''test issuing takeoff command via mavlink'''
         self.change_mode('GUIDED')
@@ -1811,6 +1834,7 @@ class AutoTestQuadPlane(vehicle_test_suite.TestSuite):
             self.RCDisableAirspeedUse,
             self.mission_MAV_CMD_DO_VTOL_TRANSITION,
             self.mavlink_MAV_CMD_DO_VTOL_TRANSITION,
+            self.TransitionMinThrottle,
             self.MAV_CMD_NAV_TAKEOFF,
             self.Q_GUIDED_MODE,
             self.DCMClimbRate,