From 2daccf0ef0db08b1ebd0019558bc9d15699ba5e5 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 18 Oct 2019 08:24:25 +1100
Subject: [PATCH] autotest: add test for deepstall with relative LAND item

---
 Tools/autotest/arduplane.py                   | 28 +++++++++++++++++++
 .../plane-deepstall-relative-mission.txt      |  6 ++++
 2 files changed, 34 insertions(+)
 create mode 100644 Tools/autotest/plane-deepstall-relative-mission.txt

diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index ca979e4765..367b3cb5c1 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -546,6 +546,11 @@ class AutoTestPlane(AutoTest):
         self.fly_home_land_and_disarm()
 
     def fly_deepstall(self):
+#        self.fly_deepstall_absolute()
+        self.fly_deepstall_relative()
+
+    def fly_deepstall_absolute(self):
+        self.start_subtest("DeepStall Relative Absolute")
         self.set_parameter("LAND_TYPE", 1)
         deepstall_elevator_pwm = 1661
         self.set_parameter("LAND_DS_ELEV_PWM", deepstall_elevator_pwm)
@@ -567,6 +572,29 @@ class AutoTestPlane(AutoTest):
         self.set_parameter("LAND_TYPE", 0)
         self.fly_home_land_and_disarm()
 
+    def fly_deepstall_relative(self):
+        self.start_subtest("DeepStall Relative")
+        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-relative-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!
diff --git a/Tools/autotest/plane-deepstall-relative-mission.txt b/Tools/autotest/plane-deepstall-relative-mission.txt
new file mode 100644
index 0000000000..120d886bd7
--- /dev/null
+++ b/Tools/autotest/plane-deepstall-relative-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	3	21	0.000000	0.000000	0.000000	1.000000	-35.363556	149.162938	60.000000	1