From f93f8daee78f9ae3363b46ddad3cd476d2b85f7a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 13 Mar 2022 15:16:27 +1100
Subject: [PATCH] autotest: set RL_AUTOLAND=1 for more tests

---
 Tools/autotest/arduplane.py | 22 +++++++++++++++++-----
 1 file changed, 17 insertions(+), 5 deletions(-)

diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index d2c58179b3..0ce2fde3cd 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -570,9 +570,12 @@ class AutoTestPlane(AutoTest):
 
     def fly_deepstall_absolute(self):
         self.start_subtest("DeepStall Relative Absolute")
-        self.set_parameter("LAND_TYPE", 1)
         deepstall_elevator_pwm = 1661
-        self.set_parameter("LAND_DS_ELEV_PWM", deepstall_elevator_pwm)
+        self.set_parameters({
+            "LAND_TYPE": 1,
+            "LAND_DS_ELEV_PWM": deepstall_elevator_pwm,
+            "RTL_AUTOLAND": 1,
+        })
         self.load_mission("plane-deepstall-mission.txt")
         self.change_mode("AUTO")
         self.wait_ready_to_arm()
@@ -593,9 +596,12 @@ class AutoTestPlane(AutoTest):
 
     def fly_deepstall_relative(self):
         self.start_subtest("DeepStall Relative")
-        self.set_parameter("LAND_TYPE", 1)
         deepstall_elevator_pwm = 1661
-        self.set_parameter("LAND_DS_ELEV_PWM", deepstall_elevator_pwm)
+        self.set_parameters({
+            "LAND_TYPE": 1,
+            "LAND_DS_ELEV_PWM": deepstall_elevator_pwm,
+            "RTL_AUTOLAND": 1,
+        })
         self.load_mission("plane-deepstall-relative-mission.txt")
         self.change_mode("AUTO")
         self.wait_ready_to_arm()
@@ -1075,6 +1081,7 @@ class AutoTestPlane(AutoTest):
         self.context_push()
         ex = None
         try:
+            self.set_parameter("RTL_AUTOLAND", 1)
             self.load_mission("plane-gripper-mission.txt")
             self.set_current_waypoint(1)
             self.change_mode('AUTO')
@@ -1621,7 +1628,10 @@ class AutoTestPlane(AutoTest):
 
     def airspeed_autocal(self):
         self.progress("Ensure no AIRSPEED_AUTOCAL on ground")
-        self.set_parameter("ARSPD_AUTOCAL", 1)
+        self.set_parameters({
+            "ARSPD_AUTOCAL": 1,
+            "RTL_AUTOLAND": 1,
+        })
         m = self.mav.recv_match(type='AIRSPEED_AUTOCAL',
                                 blocking=True,
                                 timeout=5)
@@ -1719,6 +1729,7 @@ class AutoTestPlane(AutoTest):
         self.set_parameters({
             "FLIGHT_OPTIONS": 0,
             "ALT_HOLD_RTL": 8000,
+            "RTL_AUTOLAND": 1,
         })
         takeoff_alt = 10
         self.takeoff(alt=takeoff_alt)
@@ -1837,6 +1848,7 @@ class AutoTestPlane(AutoTest):
 
             '''ensure rangefinder gives height-above-ground'''
             self.load_mission("plane-gripper-mission.txt") # borrow this
+            self.set_parameter("RTL_AUTOLAND", 1)
             self.set_current_waypoint(1)
             self.change_mode('AUTO')
             self.wait_ready_to_arm()