Tools: act on safety switch being enabled in SITL by zeroing outputs

Tools/autotest/arducopter.py

@@ -9795,6 +9795,37 @@ class AutoTestCopter(AutoTest):
         self.context_pop()
         self.reboot_sitl()
 
+    def turn_safety_x(self, value):
+        self.mav.mav.set_mode_send(
+            self.mav.target_system,
+            mavutil.mavlink.MAV_MODE_FLAG_DECODE_POSITION_SAFETY,
+            value)
+
+    def turn_safety_off(self):
+        self.turn_safety_x(0)
+
+    def turn_safety_on(self):
+        self.turn_safety_x(1)
+
+    def SafetySwitch(self):
+        '''test safety switch behaviour'''
+        self.wait_ready_to_arm()
+
+        self.turn_safety_on()
+        self.assert_prearm_failure("safety switch")
+
+        self.turn_safety_off()
+        self.wait_ready_to_arm()
+
+        self.takeoff(2, mode='LOITER')
+        self.turn_safety_on()
+
+        self.wait_servo_channel_value(1, 0)
+        self.turn_safety_off()
+
+        self.change_mode('LAND')
+        self.wait_disarmed()
+
     def GuidedYawRate(self):
         '''ensuer guided yaw rate is not affected by rate of sewt-attitude messages'''
         self.takeoff(30, mode='GUIDED')
@@ -9959,6 +9990,7 @@ class AutoTestCopter(AutoTest):
             self.NoArmWithoutMissionItems,
             self.RPLidarA1,
             self.RPLidarA2,
+            self.SafetySwitch,
         ])
         return ret
 

Tools/autotest/common.py

@@ -2505,7 +2505,6 @@ class AutoTest(ABC):
             "SIM_RC_CHANCOUNT",
             "SIM_RICH_CTRL",
             "SIM_RICH_ENABLE",
-            "SIM_SAFETY_STATE",
             "SIM_SERVO_SPEED",
             "SIM_SHIP_DSIZE",
             "SIM_SHIP_ENABLE",