From 5f21b2f7c9c05d8946d8ef35c652d4fbc02544be Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 13 Dec 2021 13:27:37 +1100
Subject: [PATCH] autotest: add GUIDEDToAUTO quadplane test

---
 .../ArduPlane_Tests/GUIDEDToAUTO/mission.txt  | 36 +++++++++++++++++++
 Tools/autotest/quadplane.py                   | 14 ++++++++
 2 files changed, 50 insertions(+)
 create mode 100644 Tools/autotest/ArduPlane_Tests/GUIDEDToAUTO/mission.txt

diff --git a/Tools/autotest/ArduPlane_Tests/GUIDEDToAUTO/mission.txt b/Tools/autotest/ArduPlane_Tests/GUIDEDToAUTO/mission.txt
new file mode 100644
index 0000000000..12bb5ed5f6
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/GUIDEDToAUTO/mission.txt
@@ -0,0 +1,36 @@
+QGC WPL 110
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	-27.272924	151.290848	10.000000	1
+1	0	10	84	0.000000	0.000000	0.000000	0.000000	-27.272924	151.290848	10.000000	1
+2	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.272705	151.298172	100.000000	1
+3	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.277561	151.337250	100.000000	1
+4	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.281748	151.335953	100.000000	1
+5	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.275724	151.289932	100.000000	1
+6	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.297457	151.285629	100.000000	1
+7	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.308109	151.354279	100.000000	1
+8	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.330292	151.374268	90.000000	1
+9	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.330435	151.375977	70.000000	1
+10	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.332638	151.376099	70.000000	1
+11	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.334694	151.376144	70.000000	1
+12	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.333776	151.374146	70.000000	1
+13	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.331438	151.378159	70.000000	1
+14	0	0	177	9.000000	4.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+15	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.334566	151.375366	40.000000	1
+16	0	0	178	0.000000	20.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+17	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.334840	151.377234	40.000000	1
+18	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.333933	151.376849	35.000000	1
+19	0	10	85	0.000000	0.000000	0.000000	0.000000	-27.332676	151.376511	0.000000	1
+20	0	10	84	0.000000	0.000000	0.000000	0.000000	-27.332659	151.376511	35.000000	1
+21	0	0	178	0.000000	24.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+22	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.332201	151.376511	100.000000	1
+23	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.330381	151.374191	100.000000	1
+24	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.308224	151.354538	100.000000	1
+25	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.297340	151.285385	100.000000	1
+26	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.275724	151.289932	100.000000	1
+27	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.281631	151.335953	100.000000	1
+28	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.277679	151.337128	100.000000	1
+29	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.272587	151.298294	100.000000	1
+30	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.271564	151.291473	30.000000	1
+31	0	0	178	0.000000	20.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+32	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.271054	151.290211	25.000000	1
+33	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.273310	151.290222	15.000000	1
+34	0	10	85	0.000000	0.000000	0.000000	0.000000	-27.274887	151.289918	0.000000	1
diff --git a/Tools/autotest/quadplane.py b/Tools/autotest/quadplane.py
index 301251a54e..61ce4dd2ac 100644
--- a/Tools/autotest/quadplane.py
+++ b/Tools/autotest/quadplane.py
@@ -897,6 +897,19 @@ class AutoTestQuadPlane(AutoTest):
         self.reset_SITL_commandline()
         self.context_pop()
 
+    def GUIDEDToAUTO(self):
+        '''Test using GUIDED mode for takeoff before shifting to auto'''
+        self.load_mission("mission.txt")
+        self.takeoff(30, mode='GUIDED')
+
+        # extra checks would go here
+        self.assert_not_receiving_message('CAMERA_FEEDBACK')
+
+        self.change_mode('AUTO')
+        self.wait_current_waypoint(3)
+        self.change_mode('QRTL')
+        self.wait_disarmed(timeout=240)
+
     def Tailsitter(self):
         '''tailsitter test'''
         self.set_parameter('Q_FRAME_CLASS', 10)
@@ -1230,6 +1243,7 @@ class AutoTestQuadPlane(AutoTest):
             self.ICEngine,
             self.ICEngineMission,
             self.MidAirDisarmDisallowed,
+            self.GUIDEDToAUTO,
             self.BootInAUTO,
             self.Ship,
             self.MAV_CMD_NAV_LOITER_TO_ALT,