From ba72c5865997b58f684dd1aef89fde4c9f791905 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 3 Aug 2023 15:41:04 +0900
Subject: [PATCH] autotest: autotest gets GSF_reset test

---
 Tools/autotest/arducopter.py | 41 ++++++++++++++++++++++++++++++++++++
 1 file changed, 41 insertions(+)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index bc82ee29ea..a10092f5e1 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -7709,6 +7709,46 @@ class AutoTestCopter(AutoTest):
                 raise NotAchievedException("Did not get %s" % want)
             still_want.remove(m.get_type())
 
+    def GSF_reset(self):
+        '''test the Gaussian Sum filter based Emergency reset'''
+        self.context_push()
+        self.set_parameters({
+            "COMPASS_ORIENT": 4,    # yaw 180
+            "COMPASS_USE2": 0,      # disable backup compasses to avoid pre-arm failures
+            "COMPASS_USE3": 0,
+        })
+        self.reboot_sitl()
+        self.change_mode('GUIDED')
+        self.wait_ready_to_arm()
+
+        # record starting position
+        startpos = self.mav.recv_match(type='LOCAL_POSITION_NED', blocking=True)
+        self.progress("startpos=%s" % str(startpos))
+
+        # arm vehicle and takeoff to at least 5m
+        self.arm_vehicle()
+        expected_alt = 5
+        self.user_takeoff(alt_min=expected_alt)
+
+        # watch for emergency yaw reset
+        self.wait_text("EKF3 IMU. emergency yaw reset", timeout=5, regex=True)
+
+        # record how far vehicle flew off
+        endpos = self.mav.recv_match(type='LOCAL_POSITION_NED', blocking=True)
+        delta_x = endpos.x - startpos.x
+        delta_y = endpos.y - startpos.y
+        dist_m = math.sqrt(delta_x*delta_x + delta_y*delta_y)
+        self.progress("GSF yaw reset triggered at %f meters" % dist_m)
+
+        self.do_RTL()
+        self.context_pop()
+        self.reboot_sitl()
+
+        # ensure vehicle did not fly too far
+        dist_m_max = 8
+        if dist_m > dist_m_max:
+            raise NotAchievedException("GSF reset failed, vehicle flew too far (%f > %f)" % (dist_m, dist_m_max))
+
     def fly_rangefinder_mavlink(self):
         self.fly_rangefinder_mavlink_distance_sensor()
 
@@ -9851,6 +9891,7 @@ class AutoTestCopter(AutoTest):
             self.AltEstimation,
             self.EKFSource,
             self.GSF,
+            self.GSF_reset,
             self.AP_Avoidance,
             self.SMART_RTL,
             self.RTL_TO_RALLY,