From 5cc046b9ccc6bdb3947b3365ce25e5318ffbd32b Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 12 Apr 2023 15:23:26 +1000
Subject: [PATCH] Tools: AP_Arming ensures mission items present when in auto
 mode

Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com>
---
 Tools/autotest/arducopter.py |  1 +
 Tools/autotest/arduplane.py  |  1 +
 Tools/autotest/common.py     | 13 +++++++++++++
 Tools/autotest/rover.py      |  1 +
 4 files changed, 16 insertions(+)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 3aafe1a4f3..3633db2f4d 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -9854,6 +9854,7 @@ class AutoTestCopter(AutoTest):
             self.IMUConsistency,
             self.AHRSTrimLand,
             self.GuidedYawRate,
+            self.NoArmWithoutMissionItems,
         ])
         return ret
 
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 6f426449ab..497ea7146e 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -4571,6 +4571,7 @@ class AutoTestPlane(AutoTest):
             self.MissionJumpTags,
             self.GCSFailsafe,
             self.SDCardWPTest,
+            self.NoArmWithoutMissionItems,
         ])
         return ret
 
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index 6ce9a81cc1..8e5ef4f1df 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -7309,6 +7309,19 @@ class AutoTest(ABC):
         # Check fence is not enabled
         self.assert_not_receiving_message('FENCE_STATUS', timeout=timeout)
 
+    def NoArmWithoutMissionItems(self):
+        '''ensure we can't arm in auto mode without mission items present'''
+        # load a trivial mission
+        items = []
+        items.append((mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0, 20000),)
+        items.append((mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0))
+        self.upload_simple_relhome_mission(items)
+
+        self.change_mode('AUTO')
+        self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_ALL)
+        self.assert_prearm_failure('Mode requires mission',
+                                   other_prearm_failures_fatal=False)
+
     def assert_prearm_failure(self,
                               expected_statustext,
                               timeout=5,
diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
index 64e83424f1..1a8f71231a 100644
--- a/Tools/autotest/rover.py
+++ b/Tools/autotest/rover.py
@@ -6354,6 +6354,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
             self.GCSFailsafe,
             self.InitialMode,
             self.DriveMaxRCIN,
+            self.NoArmWithoutMissionItems,
         ])
         return ret