From b208b7688430ebae5a4f6d070ca983de9037cd90 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 9 Jul 2019 23:39:32 +1000
Subject: [PATCH] Tools: autotest: add trivial test for receiving COLLISION
 message

---
 Tools/autotest/arduplane.py | 32 ++++++++++++++++++++++++++++++++
 1 file changed, 32 insertions(+)

diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index c6ce5f37fd..e843f1c554 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -1311,6 +1311,34 @@ class AutoTestPlane(AutoTest):
         self.wait_mode("CIRCLE")
         self.set_rc(9, 1000)
 
+    def test_adsb(self):
+        self.wait_ready_to_arm()
+        here = self.mav.location()
+        # message ADSB_VEHICLE 37 -353632614 1491652305 0 584070 0 0 0 "bob" 3 1 255 17
+        self.set_parameter("ADSB_ENABLE", 1)
+        self.set_parameter("AVD_ENABLE", 1)
+        self.delay_sim_time(1) # TODO: work out why this is required...
+        self.mav.mav.adsb_vehicle_send(37, # ICAO address
+                                       here.lat * 1e7,
+                                       here.lng * 1e7,
+                                       mavutil.mavlink.ADSB_ALTITUDE_TYPE_PRESSURE_QNH,
+                                       here.alt*1000 + 10000, # 10m up
+                                       0, # heading in cdeg
+                                       0, # horizontal velocity cm/s
+                                       0, # vertical velocity cm/s
+                                       "bob", # callsign
+                                       mavutil.mavlink.ADSB_EMITTER_TYPE_LIGHT,
+                                       1, # time since last communication
+                                       65535, # flags
+                                       17 # squawk
+        )
+        self.progress("Waiting for collision message")
+        m = self.mav.recv_match(type='COLLISION', blocking=True, timeout=2)
+        if m is None:
+            raise NotAchievedException("Did not get collision message")
+        if m.threat_level != 2:
+            raise NotAchievedException("Expected some threat at least")
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestPlane, self).tests()
@@ -1364,6 +1392,10 @@ class AutoTestPlane(AutoTest):
              "Test Fence RTL Rally",
              self.test_fence_rtl_rally),
 
+            ("ADSB",
+             "Test ADSB",
+             self.test_adsb),
+
             ("LogDownLoad",
              "Log download",
              lambda: self.log_download(