From e23313e16b00249cd3950f888ede5b6fbced7270 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 3 Feb 2019 22:28:42 +1100
Subject: [PATCH] Tools: autotest: ensure RC input is at defaults before each
 test

---
 Tools/autotest/arducopter.py |  3 ++-
 Tools/autotest/common.py     | 17 +++++++++++++++++
 2 files changed, 19 insertions(+), 1 deletion(-)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 84bb7b9dfc..c4caa63de8 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -2569,7 +2569,7 @@ class AutoTestCopter(AutoTest):
         return "STABILIZE"
 
     def initial_mode_switch_mode(self):
-        return "AUTO"
+        return "STABILIZE"
 
     def default_mode(self):
         return "STABILIZE"
@@ -2577,6 +2577,7 @@ class AutoTestCopter(AutoTest):
     def rc_defaults(self):
         ret = super(AutoTestCopter, self).rc_defaults()
         ret[3] = 1000
+        ret[5] = 1800 # mode switch
         return ret
 
     def tests(self):
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index 9d607deb4b..84b7a752dd 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -633,6 +633,22 @@ class AutoTest(ABC):
         _defaults = self.rc_defaults()
         self.set_rc_from_map(_defaults)
 
+    def check_rc_defaults(self):
+        """Ensure all rc outputs are at defaults"""
+        _defaults = self.rc_defaults()
+        m = self.mav.recv_match(type='RC_CHANNELS', blocking=True)
+        if m is None:
+            raise NotAchievedException("No RC_CHANNELS messages?!")
+        need_set = {}
+        for chan in _defaults:
+            default_value = _defaults[chan]
+            current_value = getattr(m, "chan" + str(chan) + "_raw")
+            if default_value != current_value:
+                self.progress("chan=%u needs resetting is=%u want=%u" %
+                              (chan, current_value, default_value))
+                need_set[chan] = default_value
+        self.set_rc_from_map(need_set)
+
     def set_rc(self, chan, pwm, timeout=2000):
         """Setup a simulated RC control to a PWM value"""
         self.drain_mav()
@@ -1503,6 +1519,7 @@ class AutoTest(ABC):
         self.context_push()
 
         try:
+            self.check_rc_defaults()
             self.change_mode(self.default_mode())
             test_function()
         except Exception as e: