From dc312260de2cb90fc4721dcc54e495a9fc76b295 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 12 Feb 2022 18:30:24 +1100
Subject: [PATCH] autotest: add test for DO_CHANGE_SPEED

---
 .../DO_CHANGE_SPEED/mission.txt               | 11 +++++
 Tools/autotest/arducopter.py                  | 40 +++++++++++++++++++
 2 files changed, 51 insertions(+)
 create mode 100644 Tools/autotest/ArduCopter_Tests/DO_CHANGE_SPEED/mission.txt

diff --git a/Tools/autotest/ArduCopter_Tests/DO_CHANGE_SPEED/mission.txt b/Tools/autotest/ArduCopter_Tests/DO_CHANGE_SPEED/mission.txt
new file mode 100644
index 0000000000..a5cf57476d
--- /dev/null
+++ b/Tools/autotest/ArduCopter_Tests/DO_CHANGE_SPEED/mission.txt
@@ -0,0 +1,11 @@
+QGC WPL 110
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.363262	149.165237	584.090027	1
+1	0	3	22	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	20.000000	1
+2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.362656	149.165072	20.000000	1
+3	0	0	178	1.000000	15.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+4	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.360174	149.167908	14.000000	1
+5	0	0	178	1.000000	10.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+6	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.363296	149.169244	18.000000	1
+7	0	0	178	1.000000	17.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+8	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364115	149.165747	20.000000	1
+9	0	0	20	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 05b79fa60b..e7828b4552 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -7744,6 +7744,42 @@ class AutoTestCopter(AutoTest):
 
         self.wait_disarmed()
 
+    def DO_CHANGE_SPEED(self):
+        self.load_mission("mission.txt", strict=False)
+
+        self.set_parameters({
+            "AUTO_OPTIONS": 3,
+            "ANGLE_MAX": 4500,
+        })
+
+        self.change_mode('AUTO')
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+
+        self.wait_current_waypoint(2)
+        self.wait_groundspeed(
+            14.5, 15.5,
+            minimum_duration=10,
+            timeout=60,
+        )
+
+        self.wait_current_waypoint(4)
+        self.wait_groundspeed(
+            9.5, 11.5,
+            minimum_duration=10,
+            timeout=60,
+        )
+
+        self.set_parameter("ANGLE_MAX", 6000)
+        self.wait_current_waypoint(6)
+        self.wait_groundspeed(
+            16.5, 18.5,
+            minimum_duration=10,
+            timeout=60,
+        )
+
+        self.wait_disarmed()
+
     # a wrapper around all the 1A,1B,1C..etc tests for travis
     def tests1(self):
         ret = ([])
@@ -8443,6 +8479,10 @@ class AutoTestCopter(AutoTest):
                  "Test EKF's handling of takeoff-expected",
                  self.GroundEffectCompensation_takeOffExpected),
 
+            Test("DO_CHANGE_SPEED",
+                 "Change speed during misison using waypoint items",
+                 self.DO_CHANGE_SPEED),
+
             Test("WPNAV_SPEED",
                  "Change speed during misison",
                  self.WPNAV_SPEED),