autotest: add test for two consecutive drops with no reboot

Tools/autotest/arducopter.py

@@ -6774,6 +6774,13 @@ class AutoTestCopter(AutoTest):
 
         return ret
 
+    def upload_simple_relhome_mission(self, items, target_system=1, target_component=1):
+        mission = self.create_simple_relhome_mission(
+            items,
+            target_system=target_system,
+            target_component=target_component)
+        self.check_mission_upload_download(mission)
+
     def test_replay(self):
         '''test replay correctness'''
         self.progress("Building Replay")
@@ -6906,6 +6913,59 @@ class AutoTestCopter(AutoTest):
     def get_touchdownexpected_durations_from_current_onboard_log(self, ignore_multi=False):
         return self.get_ground_effect_duration_from_current_onboard_log(12, ignore_multi=ignore_multi)
 
+    def ThrowDoubleDrop(self):
+        # test boomerang mode:
+        self.progress("Getting a lift to altitude")
+        self.set_parameters({
+            "SIM_SHOVE_Z": -11,
+            "THROW_TYPE": 1,   # drop
+            "MOT_SPOOL_TIME": 2,
+        })
+        self.change_mode('THROW')
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+        try:
+            self.set_parameter("SIM_SHOVE_TIME", 30000)
+        except ValueError:
+            # the shove resets this to zero
+            pass
+
+        self.wait_altitude(100, 1000, timeout=100, relative=True)
+        self.context_collect('STATUSTEXT')
+        self.wait_statustext("throw detected - uprighting", check_context=True, timeout=10)
+        self.wait_statustext("uprighted - controlling height", check_context=True)
+        self.wait_statustext("height achieved - controlling position", check_context=True)
+        self.progress("Waiting for still")
+        self.wait_speed_vector(Vector3(0, 0, 0))
+        self.change_mode('ALT_HOLD')
+        self.set_rc(3, 1000)
+        self.wait_disarmed(timeout=90)
+        self.zero_throttle()
+
+        self.progress("second flight")
+        self.upload_square_mission_items_around_location(self.poll_home_position())
+
+        self.set_parameters({
+            "THROW_NEXTMODE": 3,  # auto
+        })
+
+        self.change_mode('THROW')
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+        try:
+            self.set_parameter("SIM_SHOVE_TIME", 30000)
+        except ValueError:
+            # the shove resets this to zero
+            pass
+
+        self.wait_altitude(100, 1000, timeout=100, relative=True)
+        self.context_collect('STATUSTEXT')
+        self.wait_statustext("throw detected - uprighting", check_context=True, timeout=10)
+        self.wait_statustext("uprighted - controlling height", check_context=True)
+        self.wait_statustext("height achieved - controlling position", check_context=True)
+        self.wait_mode('AUTO')
+        self.wait_disarmed(timeout=240)
+
     def GroundEffectCompensation_takeOffExpected(self):
         self.change_mode('ALT_HOLD')
         self.set_parameter("LOG_FILE_DSRMROT", 1)
@@ -6963,6 +7023,20 @@ class AutoTestCopter(AutoTest):
         if abs(duration - expected) > 5:
             raise NotAchievedException("Was expecting roughly %fs of touchdown expected, got %f" % (expected, duration))
 
+    def upload_square_mission_items_around_location(self, loc):
+        alt = 20
+        loc.alt = alt
+        items = [
+            (mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, alt)
+        ]
+
+        for (ofs_n, ofs_e) in (20, 20), (20, -20), (-20, -20), (-20, 20), (20, 20):
+            items.append((mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, ofs_n, ofs_e, alt))
+
+        items.append((mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0))
+
+        self.upload_simple_relhome_mission(items)
+
     # a wrapper around all the 1A,1B,1C..etc tests for travis
     def tests1(self):
         ret = ([])
@@ -7095,6 +7169,10 @@ class AutoTestCopter(AutoTest):
              "Test setpoint global position",
              self.test_set_position_global_int),
 
+            ("ThrowDoubleDrop",
+             "Test a more complicated drop-mode scenario",
+             self.ThrowDoubleDrop),
+
             ("SetpointGlobalVel",
              "Test setpoint global velocity",
              self.test_set_velocity_global_int),