From 35cb526241bc7e147c262b3ed3957cea6a287328 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 19 Jun 2024 13:07:44 +1000
Subject: [PATCH] autotest: add a test for gripper release on thrust loss

---
 Tools/autotest/arducopter.py | 38 +++++++++++++++++++++++++++++-------
 1 file changed, 31 insertions(+), 7 deletions(-)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 36c705e414..9a88c19714 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -4938,6 +4938,15 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
                 0.01 # size of target in radians, Y-axis
             )
 
+    def set_servo_gripper_parameters(self):
+        self.set_parameters({
+            "GRIP_ENABLE": 1,
+            "GRIP_TYPE": 1,
+            "SIM_GRPS_ENABLE": 1,
+            "SIM_GRPS_PIN": 8,
+            "SERVO8_FUNCTION": 28,
+        })
+
     def PayloadPlaceMission(self):
         """Test payload placing in auto."""
         self.context_push()
@@ -4945,13 +4954,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
         ex = None
         try:
             self.set_analog_rangefinder_parameters()
-            self.set_parameters({
-                "GRIP_ENABLE": 1,
-                "GRIP_TYPE": 1,
-                "SIM_GRPS_ENABLE": 1,
-                "SIM_GRPS_PIN": 8,
-                "SERVO8_FUNCTION": 28,
-            })
+            self.set_servo_gripper_parameters()
             self.reboot_sitl()
 
             self.load_mission("copter_payload_place.txt")
@@ -11521,6 +11524,26 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
 
         self.reboot_sitl()  # because we set home
 
+    def GripperReleaseOnThrustLoss(self):
+        '''tests that gripper is released on thrust loss if option set'''
+
+        self.context_push()
+        self.set_servo_gripper_parameters()
+        self.reboot_sitl()
+
+        self.takeoff(30, mode='LOITER')
+        self.set_parameters({
+            "SIM_ENGINE_FAIL": 1,
+            "SIM_ENGINE_MUL": 0.5,
+            "FLIGHT_OPTIONS": 4,
+        })
+
+        self.wait_statustext("Gripper Load Released", timeout=60)
+
+        self.context_pop()
+        self.do_RTL()
+        self.reboot_sitl()
+
     def tests2b(self):  # this block currently around 9.5mins here
         '''return list of all tests'''
         ret = ([
@@ -11611,6 +11634,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
             self.GuidedForceArm,
             self.GuidedWeatherVane,
             self.Clamp,
+            self.GripperReleaseOnThrustLoss,
         ])
         return ret