From bdb84ed24457192341b998a23d52055cb0eaa292 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 23 May 2024 22:21:08 +1000
Subject: [PATCH] autotest: add test for Guided WeatherVane behaviour

---
 Tools/autotest/arducopter.py | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 6bd736a1db..fd9b8fa666 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -11414,6 +11414,20 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
         self.context_pop()
         self.reboot_sitl(force=True)
 
+    def GuidedWeatherVane(self):
+        '''check Copter Guided mode weathervane option'''
+        self.set_parameters({
+            'SIM_WIND_SPD': 10,
+            'SIM_WIND_DIR': 90,
+            'WVANE_ENABLE': 1,
+        })
+        self.takeoff(20, mode='GUIDED')
+        self.guided_achieve_heading(0)
+
+        self.set_parameter("GUID_OPTIONS", 128)
+        self.wait_heading(90, timeout=60, minimum_duration=10)
+        self.do_RTL()
+
     def tests2b(self):  # this block currently around 9.5mins here
         '''return list of all tests'''
         ret = ([
@@ -11502,6 +11516,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
             self.EK3_OGN_HGT_MASK,
             self.FarOrigin,
             self.GuidedForceArm,
+            self.GuidedWeatherVane
         ])
         return ret