From 640f20523537d23c231d2705ba2f0fb25fd180b1 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 25 Nov 2024 15:39:37 +1100
Subject: [PATCH] autotest: added non-compass takeoff test

---
 Tools/autotest/arduplane.py | 36 ++++++++++++++++++++++++++++++++++++
 1 file changed, 36 insertions(+)

diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index fa4a0949133ff0..d2d4f36a877d1e 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -8,6 +8,7 @@
 import math
 import os
 import signal
+import copy
 
 from pymavlink import quaternion
 from pymavlink import mavutil
@@ -4804,6 +4805,40 @@ def TakeoffTakeoff4(self):
 
         self.fly_home_land_and_disarm()
 
+    def TakeoffTakeoff5(self):
+        '''Test the behaviour of a takeoff with no compass'''
+        self.set_parameters({
+            "COMPASS_USE": 0,
+            "COMPASS_USE2": 0,
+            "COMPASS_USE3": 0,
+        })
+        start_loc = copy.copy(SITL_START_LOCATION)
+        start_loc.heading = 175
+        self.customise_SITL_commandline(["--home=%.9f,%.9f,%.2f,%.1f" % (
+            start_loc.lat, start_loc.lng, start_loc.alt, start_loc.heading)])
+        self.reboot_sitl()
+        self.change_mode("TAKEOFF")
+
+        # waiting for the EKF to be happy won't work
+        self.delay_sim_time(20)
+        self.arm_vehicle()
+
+        target_alt = self.get_parameter("TKOFF_ALT")
+        self.wait_altitude(target_alt-5, target_alt, relative=True)
+
+        # Wait a bit for the Takeoff altitude to settle.
+        self.delay_sim_time(5)
+
+        bearing_margin = 35
+        loc = self.mav.location()
+        bearing_from_home = self.get_bearing(start_loc, loc)
+        if bearing_from_home < 0:
+            bearing_from_home += 360
+        if abs(bearing_from_home - start_loc.heading) > bearing_margin:
+            raise NotAchievedException(f"Did not takeoff in the right direction {bearing_from_home}")
+
+        self.fly_home_land_and_disarm()
+
     def TakeoffGround(self):
         '''Test a rolling TAKEOFF.'''
 
@@ -6416,6 +6451,7 @@ def tests1b(self):
             self.TakeoffTakeoff2,
             self.TakeoffTakeoff3,
             self.TakeoffTakeoff4,
+            self.TakeoffTakeoff5,
             self.TakeoffGround,
             self.TakeoffIdleThrottle,
             self.ForcedDCM,