autotest: test simulated ship takeoff

Tools/autotest/arducopter.py

@@ -4955,6 +4955,21 @@ class AutoTestCopter(AutoTest):
 
         self.fly_rangefinder_mavlink()
 
+    def fly_ship_takeoff(self):
+        # test ship takeoff
+        self.wait_groundspeed(0, 2)
+        self.set_parameter("SIM_SHIP_ENABLE", 1)
+        self.set_parameter("SIM_SHIP_SPEED", 10)
+        self.set_parameter("SIM_SHIP_DSIZE", 2)
+        self.wait_ready_to_arm()
+        # we should be moving with the ship
+        self.wait_groundspeed(9, 11)
+        self.takeoff(10)
+        # above ship our speed drops to 0
+        self.wait_groundspeed(0, 2)
+        self.land_and_disarm()
+        # ship will have moved on, so we land on the water which isn't moving
+        self.wait_groundspeed(0, 2)
 
     def test_parameter_validation(self):
         self.progress("invalid; min must be less than max:")
@@ -5155,6 +5170,10 @@ class AutoTestCopter(AutoTest):
              "Test Buttons",
              self.test_button),
 
+            ("ShipTakeoff",
+             "Fly Simulated Ship Takeoff",
+             self.fly_ship_takeoff),
+
             ("RangeFinder",
              "Test RangeFinder Basic Functionality",
              self.test_rangefinder),