From 47625e693e2b9014a84b14498c1ca5f6d01f6817 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 11 Jun 2024 07:37:52 +1000
Subject: [PATCH] autotest: test guided attitude control with no GPS

---
 Tools/autotest/arduplane.py | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 3f714260b0..4eadb92c2f 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -5389,6 +5389,17 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
         self.disarm_vehicle(force=True)
         self.reboot_sitl()
 
+    def GuidedAttitudeNoGPS(self):
+        '''test that guided-attitude still works with no GPS'''
+        self.takeoff(50)
+        self.change_mode('GUIDED')
+        self.context_push()
+        self.set_parameter('SIM_GPS_DISABLE', 1)
+        self.delay_sim_time(30)
+        self.set_attitude_target()
+        self.context_pop()
+        self.fly_home_land_and_disarm()
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestPlane, self).tests()
@@ -5499,6 +5510,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
             self.MAV_CMD_NAV_RETURN_TO_LAUNCH,
             self.MinThrottle,
             self.ClimbThrottleSaturation,
+            self.GuidedAttitudeNoGPS,
         ])
         return ret