From 3022299e715ee188743b99e48e7ce7566e9b9c21 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 26 Aug 2022 20:45:12 +1000
Subject: [PATCH] autotest: disable SpeedToFly McReady tests

        # mcReady tests don't work ATM, so just return early:
---
 Tools/autotest/arduplane.py | 49 ++++++++++++++++++++++++++++++++-----
 1 file changed, 43 insertions(+), 6 deletions(-)

diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 1f9651a244..d3c6b3da79 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -2433,8 +2433,10 @@ function'''
 
         self.load_mission('CMAC-soar.txt', strict=False)
 
-        # Turn of environmental thermals.
-        self.set_parameter("SIM_THML_SCENARI", 0)
+        self.set_parameters({
+            "SIM_THML_SCENARI": 0, # Turn off environmental thermals.
+            "SOAR_ALT_MAX": 1000,  # remove source of random failure
+        })
 
         # Get thermalling RC channel
         rc_chan = 0
@@ -2472,7 +2474,7 @@ function'''
 
         self.progress('Waiting a few seconds before determining the "trim" airspeed.')
         self.delay_sim_time(20)
-        m = self.mav.recv_match(type='VFR_HUD', blocking=True)
+        m = self.assert_receive_message('VFR_HUD')
         trim_airspeed = m.airspeed
         self.progress("Using trim_airspeed=%f" % (trim_airspeed,))
 
@@ -2507,10 +2509,45 @@ function'''
         self.progress("Waiting for airspeed to increase with higher VSPEED")
         self.wait_airspeed(trim_airspeed+0.5, trim_airspeed+100, minimum_duration=10, timeout=120)
 
+        # mcReady tests don't work ATM, so just return early:
+        # takes too long to land, so just make it all go away:
+        self.disarm_vehicle(force=True)
+        self.reboot_sitl()
+        return
+
+        self.start_subtest('Test McReady values')
+        # Disable soaring
+        self.set_rc(rc_chan, 1100)
+
+        # Wait for to 400m before starting.
+        self.wait_altitude(390, 400, timeout=600, relative=True)
+
+        # Enable soaring
+        self.set_rc(rc_chan, 2000)
+
+        self.progress("Find airspeed with 1m/s updraft and mcready=1")
+        self.set_parameters({
+            "SOAR_VSPEED": 1,
+            "SIM_WIND_SPD": 1,
+        })
+        self.delay_sim_time(20)
+        m = self.assert_receive_message('VFR_HUD')
+        mcready1_speed = m.airspeed
+        self.progress("airspeed is %f" % mcready1_speed)
+
         self.progress("Reducing McCready")
-        self.set_parameter("SOAR_VSPEED", 0)
-        self.progress("Waiting for airspeed to decrease with lower VSPEED")
-        self.wait_airspeed(0, trim_airspeed-0.5, minimum_duration=10, timeout=120)
+        self.set_parameters({
+            "SOAR_VSPEED": 0.5,
+        })
+        self.progress("Waiting for airspeed to decrease with lower McReady")
+        self.wait_airspeed(0, mcready1_speed-0.5, minimum_duration=10, timeout=120)
+
+        self.progress("Increasing McCready")
+        self.set_parameters({
+            "SOAR_VSPEED": 1.5,
+        })
+        self.progress("Waiting for airspeed to decrease with lower McReady")
+        self.wait_airspeed(mcready1_speed+0.5, mcready1_speed+100, minimum_duration=10, timeout=120)
 
         # takes too long to land, so just make it all go away:
         self.disarm_vehicle(force=True)