From 0f913b5bdfde2759ecc40011279683325332116d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 11 Apr 2024 15:27:50 +1000
Subject: [PATCH] autotest: add test altitudes in camera log messages are
 correct

---
 Tools/autotest/arducopter.py | 46 ++++++++++++++++++++++++++++++++++++
 1 file changed, 46 insertions(+)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index f561cf8ce8..9b47f12106 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -10783,6 +10783,51 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
 
         self.wait_disarmed()
 
+    def CameraLogMessages(self):
+        '''ensure Camera log messages are good'''
+        self.set_parameter("RC12_OPTION", 9) # CameraTrigger
+        self.set_parameter("CAM1_TYPE", 1)   # Camera with servo trigger
+        self.reboot_sitl() # needed for RC12_OPTION to take effect
+
+        gpis = []
+        gps_raws = []
+
+        self.takeoff(10, mode='GUIDED')
+        self.set_rc(12, 2000)
+        gpis.append(self.assert_receive_message('GLOBAL_POSITION_INT'))
+        gps_raws.append(self.assert_receive_message('GPS_RAW_INT'))
+        self.set_rc(12, 1000)
+
+        self.fly_guided_move_local(0, 0, 20)
+
+        self.set_rc(12, 2000)
+        gpis.append(self.assert_receive_message('GLOBAL_POSITION_INT'))
+        gps_raws.append(self.assert_receive_message('GPS_RAW_INT'))
+        self.set_rc(12, 1000)
+
+        dfreader = self.dfreader_for_current_onboard_log()
+        self.do_RTL()
+
+        for i in range(len(gpis)):
+            gpi = gpis[i]
+            gps_raw = gps_raws[i]
+            m = dfreader.recv_match(type="CAM")
+
+            things = [
+                ["absalt", gpi.alt*0.001, m.Alt],
+                ["relalt", gpi.relative_alt*0.001, m.RelAlt],
+                ["gpsalt", gps_raw.alt*0.001, m.GPSAlt],  # use GPS_RAW here?
+            ]
+            for (name, want, got) in things:
+                if abs(got - want) > 1:
+                    raise NotAchievedException(f"Incorrect {name} {want=} {got=}")
+                self.progress(f"{name} {want=} {got=}")
+
+            want = gpi.relative_alt*0.001
+            got = m.RelAlt
+            if abs(got - want) > 1:
+                raise NotAchievedException(f"Incorrect relalt {want=} {got=}")
+
     def tests2b(self):  # this block currently around 9.5mins here
         '''return list of all tests'''
         ret = ([
@@ -10860,6 +10905,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
             self.Ch6TuningWPSpeed,
             self.PILOT_THR_BHV,
             self.GPSForYawCompassLearn,
+            self.CameraLogMessages,
         ])
         return ret