From 1f7a3d0e161f9152dcf2ff40e979d792d96d3c21 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 18 Oct 2019 07:33:07 +1100
Subject: [PATCH] autotest: add deepstall test

---
 Tools/autotest/arduplane.py                | 26 ++++++++++++++++++++++
 Tools/autotest/plane-deepstall-mission.txt |  6 +++++
 2 files changed, 32 insertions(+)
 create mode 100644 Tools/autotest/plane-deepstall-mission.txt

diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index a9bb4bc9e9..29dd90f6cc 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -545,6 +545,28 @@ class AutoTestPlane(AutoTest):
 
         self.fly_home_land_and_disarm()
 
+    def fly_deepstall(self):
+        self.set_parameter("LAND_TYPE", 1)
+        deepstall_elevator_pwm = 1661
+        self.set_parameter("LAND_DS_ELEV_PWM", deepstall_elevator_pwm)
+        self.load_mission("plane-deepstall-mission.txt")
+        self.change_mode("AUTO")
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+        self.progress("Waiting for deepstall messages")
+
+        self.wait_text("Deepstall: Entry: ", timeout=240)
+
+        # assume elevator is on channel 2:
+        self.wait_servo_channel_value(2, deepstall_elevator_pwm)
+
+        self.disarm_wait(timeout=120)
+
+        self.progress("Flying home")
+        self.takeoff(10)
+        self.set_parameter("LAND_TYPE", 0)
+        self.fly_home_land_and_disarm()
+
     def fly_do_change_speed(self):
         # the following lines ensure we revert these parameter values
         # - DO_CHANGE_AIRSPEED is a permanent vehicle change!
@@ -1418,6 +1440,10 @@ class AutoTestPlane(AutoTest):
              "Test Advanced Failsafe",
              self.test_advanced_failsafe),
 
+            ("DeepStall",
+             "Test DeepStall Landing",
+             self.fly_deepstall),
+
             ("LogDownLoad",
              "Log download",
              lambda: self.log_download(
diff --git a/Tools/autotest/plane-deepstall-mission.txt b/Tools/autotest/plane-deepstall-mission.txt
new file mode 100644
index 0000000000..f431128d5d
--- /dev/null
+++ b/Tools/autotest/plane-deepstall-mission.txt
@@ -0,0 +1,6 @@
+QGC WPL 110
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.363262	149.165237	584.090027	1
+1	0	3	22	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	100.000000	1
+2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.362279	149.164503	100.000000	1
+3	0	3	189	0.000000	0.000000	0.000000	0.000000	-35.362565	149.164358	100.000000	1
+4	0	0	21	630.000000	0.000000	0.000000	1.000000	-35.363556	149.162938	0.000000	1