From 2271827c9d0ec2273b52a637bf86f3c78a46c50e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 18 Apr 2023 08:57:13 +1000
Subject: [PATCH] autotest: add tests for compass prearms

---
 Tools/autotest/common.py | 21 +++++++++++++++++++++
 Tools/autotest/rover.py  |  1 +
 2 files changed, 22 insertions(+)

diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index ae12722a59..a26162e0ad 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -12907,6 +12907,27 @@ switch value'''
         if ex is not None:
             raise ex
 
+    def CompassPrearms(self):
+        '''test compass prearm checks'''
+        self.wait_ready_to_arm()
+        # XY are checked specially:
+        for axis in 'X', 'Y':  # ArduPilot only checks these two axes
+            self.context_push()
+            self.set_parameter(f"COMPASS_OFS2_{axis}", 1000)
+            self.assert_prearm_failure("Compasses inconsistent")
+            self.context_pop()
+            self.wait_ready_to_arm()
+
+        # now test the total anglular difference:
+        self.context_push()
+        self.set_parameters({
+            "COMPASS_OFS2_X": 1000,
+            "COMPASS_OFS2_Y": -1000,
+            "COMPASS_OFS2_Z": -10000,
+        })
+        self.assert_prearm_failure("Compasses inconsistent")
+        self.context_pop()
+
     def AHRS_ORIENTATION(self):
         '''test AHRS_ORIENTATION parameter works'''
         self.context_push()
diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
index 1a8f71231a..d2e5a40487 100644
--- a/Tools/autotest/rover.py
+++ b/Tools/autotest/rover.py
@@ -6355,6 +6355,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
             self.InitialMode,
             self.DriveMaxRCIN,
             self.NoArmWithoutMissionItems,
+            self.CompassPrearms,
         ])
         return ret