From 151f17d5632bdad62ff2b5ee9d739fca50963788 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 14 May 2022 16:02:17 +1000
Subject: [PATCH] autotest: reset mission on takeoff for quadplanes

---
 Tools/autotest/arduplane.py | 2 ++
 Tools/autotest/common.py    | 1 +
 Tools/autotest/quadplane.py | 2 ++
 3 files changed, 5 insertions(+)

diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index aee78bf4b3..c6b76c42c3 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -614,6 +614,7 @@ class AutoTestPlane(AutoTest):
         self.wait_servo_channel_value(2, deepstall_elevator_pwm)
 
         self.disarm_wait(timeout=120)
+        self.set_current_waypoint(0, check_afterwards=False)
 
         self.progress("Flying home")
         self.takeoff(100)
@@ -784,6 +785,7 @@ class AutoTestPlane(AutoTest):
         #        tend to miss the final waypoint by a fair bit, and
         #        this is probably too noisy anyway?
         self.wait_disarmed(timeout=timeout)
+        self.set_current_waypoint(0, check_afterwards=False)
 
     def fly_flaps(self):
         """Test flaps functionality."""
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index 0967229a89..0e8ced93bb 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -6790,6 +6790,7 @@ Also, ignores heartbeats not from our target system'''
         try:
             self.check_rc_defaults()
             self.change_mode(self.default_mode())
+            self.set_current_waypoint(0, check_afterwards=False)
             self.drain_mav()
             self.drain_all_pexpects()
 
diff --git a/Tools/autotest/quadplane.py b/Tools/autotest/quadplane.py
index 923e9b4ed9..c6ca8227a3 100644
--- a/Tools/autotest/quadplane.py
+++ b/Tools/autotest/quadplane.py
@@ -446,6 +446,7 @@ class AutoTestQuadPlane(AutoTest):
 
     def takeoff(self, height, mode):
         """climb to specified height and set throttle to 1500"""
+        self.set_current_waypoint(0, check_afterwards=False)
         self.change_mode(mode)
         self.wait_ready_to_arm()
         self.arm_vehicle()
@@ -470,6 +471,7 @@ class AutoTestQuadPlane(AutoTest):
         self.change_mode("AUTO")
         self.set_current_waypoint(7)
         self.wait_disarmed(timeout=timeout)
+        self.set_current_waypoint(0, check_afterwards=False)
 
     def wait_level_flight(self, accuracy=5, timeout=30):
         """Wait for level flight."""