From 7249265207313845c8cc7d427b3422f592fce8d6 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 13 Sep 2024 21:55:20 +0900
Subject: [PATCH] Tools: add copter pos offset test

---
 Tools/autotest/arducopter.py | 53 ++++++++++++++++++++++++++++++++++++
 1 file changed, 53 insertions(+)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 8a3d11b6f1ef77..b95c4a582da2d7 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -10766,6 +10766,58 @@ def ScriptMountPOI(self):
         self.context_pop()
         self.reboot_sitl()
 
+    def ScriptCopterPosOffsets(self):
+        '''test the copter-posoffset.lua example script'''
+        self.context_push()
+
+        # enable scripting and arming/takingoff in Auto mode
+        self.set_parameters({
+            "SCR_ENABLE": 1,
+            "AUTO_OPTIONS": 3,
+            "RC12_OPTION": 300
+        })
+        self.reboot_sitl()
+
+        # install copter-posoffset script
+        self.install_example_script_context('copter-posoffset.lua')
+        self.reboot_sitl()
+
+        # create simple mission with a single takeoff command
+        self.upload_simple_relhome_mission([
+            (mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 20)
+        ])
+
+        # switch to loiter to wait for position estimate (aka GPS lock)
+        self.change_mode('LOITER')
+        self.wait_ready_to_arm()
+
+        # arm and takeoff in Auto mode
+        self.change_mode('AUTO')
+        self.arm_vehicle()
+
+        # wait for vehicle to climb to at least 10m
+        self.wait_altitude(8, 12, relative=True)
+
+        # add position offset to East and confirm vehicle moves
+        self.set_parameter("PSC_OFS_POS_E", 20)
+        self.set_rc(12, 2000)
+        self.wait_distance(18)
+
+        # remove position offset and wait for vehicle to return home
+        self.set_parameter("PSC_OFS_POS_E", 0)
+        self.wait_distance_to_home(distance_min=0, distance_max=4, timeout=20)
+
+        # add velocity offset and confirm vehicle moves
+        self.set_parameter("PSC_OFS_VEL_N", 5)
+        self.wait_groundspeed(4.8, 5.2, minimum_duration=5, timeout=20)
+
+        # remove velocity offset and switch to RTL
+        self.set_parameter("PSC_OFS_VEL_N", 0)
+        self.set_rc(12, 1000)
+        self.do_RTL()
+        self.context_pop()
+        self.reboot_sitl()
+
     def AHRSTrimLand(self):
         '''test land detector with significant AHRS trim'''
         self.context_push()
@@ -12133,6 +12185,7 @@ def tests2b(self):  # this block currently around 9.5mins here
             self.TerrainDBPreArm,
             self.ThrottleGainBoost,
             self.ScriptMountPOI,
+            self.ScriptCopterPosOffsets,
             self.MountSolo,
             self.FlyMissionTwice,
             self.FlyMissionTwiceWithReset,