From b47b97a981f45489cb6678c1c715a465080c73ec Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 5 Mar 2019 14:52:24 +1100
Subject: [PATCH] Tools: autotest: add test for QuadPlane controller pre-arm
 checks

---
 Tools/autotest/arducopter.py | 26 +-------------------------
 Tools/autotest/common.py     | 27 +++++++++++++++++++++++++++
 Tools/autotest/quadplane.py  |  7 +++++++
 3 files changed, 35 insertions(+), 25 deletions(-)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 1239f889ff..23f6b95e75 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -2786,31 +2786,7 @@ class AutoTestCopter(AutoTest):
         super(AutoTestCopter, self).test_arm_feature()
 
     def test_parameter_checks(self):
-        self.wait_ready_to_arm()
-        self.context_push()
-        self.set_parameter("PSC_POSXY_P", -1)
-        self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
-                     1,  # ARM
-                     0,
-                     0,
-                     0,
-                     0,
-                     0,
-                     0,
-                     timeout=2,
-                     want_result=mavutil.mavlink.MAV_RESULT_FAILED)
-        self.context_pop()
-        self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
-                     1,  # ARM
-                     0,
-                     0,
-                     0,
-                     0,
-                     0,
-                     0,
-                     timeout=2,
-                     want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED)
-        self.disarm_vehicle()
+        self.test_parameter_checks_poscontrol("PSC")
 
     def initial_mode(self):
         return "STABILIZE"
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index 2c485e2473..7e58acd48a 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -2330,6 +2330,33 @@ switch value'''
     def disabled_tests(self):
         return {}
 
+    def test_parameter_checks_poscontrol(self, param_prefix):
+        self.wait_ready_to_arm()
+        self.context_push()
+        self.set_parameter("%s_POSXY_P" % param_prefix, -1)
+        self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
+                     1,  # ARM
+                     0,
+                     0,
+                     0,
+                     0,
+                     0,
+                     0,
+                     timeout=2,
+                     want_result=mavutil.mavlink.MAV_RESULT_FAILED)
+        self.context_pop()
+        self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
+                     1,  # ARM
+                     0,
+                     0,
+                     0,
+                     0,
+                     0,
+                     0,
+                     timeout=2,
+                     want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED)
+        self.disarm_vehicle()
+
     def test_pid_tuning(self):
         self.progress("making sure we're not getting PID_TUNING messages")
         m = self.mav.recv_match(type='PID_TUNING', blocking=True, timeout=5)
diff --git a/Tools/autotest/quadplane.py b/Tools/autotest/quadplane.py
index 401080e254..f4ab46663a 100644
--- a/Tools/autotest/quadplane.py
+++ b/Tools/autotest/quadplane.py
@@ -192,6 +192,9 @@ class AutoTestQuadPlane(AutoTest):
         self.change_mode("FBWA") # we don't update PIDs in MANUAL
         super(AutoTestQuadPlane, self).test_pid_tuning()
 
+    def test_parameter_checks(self):
+        self.test_parameter_checks_poscontrol("Q_P")
+
     def default_mode(self):
         return "MANUAL"
 
@@ -212,6 +215,10 @@ class AutoTestQuadPlane(AutoTest):
 
             ("QAutoTune", "Fly QAUTOTUNE mode", self.fly_qautotune),
 
+            ("ParameterChecks",
+             "Test Arming Parameter Checks",
+             self.test_parameter_checks),
+
             ("Mission", "Dalby Mission",
              lambda: self.fly_mission(m, f))
         ])