From 3963290e9fd95e6ea042ee87a2d39af2104ef258 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Fri, 19 Jan 2024 12:32:06 +0000
Subject: [PATCH] autotest: add copter tests for auto-enable fence options

---
 Tools/autotest/arducopter.py | 48 ++++++++++++++++++++++++++++++++++--
 1 file changed, 46 insertions(+), 2 deletions(-)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 35ba20e26fcefe..975cfc09436b7b 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -1734,6 +1734,50 @@ def FenceFloorAutoDisableLanding(self):
         self.do_fence_disable()
         self.assert_fence_disabled()
 
+    def FenceFloorAutoEnableOnArming(self):
+        """Ensures we can auto-enable fences on arming and still takeoff and land"""
+
+        fence_bit = mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE
+
+        self.set_parameters({
+            "AVOID_ENABLE": 0,
+            "FENCE_TYPE": 11,
+            "FENCE_ALT_MIN": 10,
+            "FENCE_ALT_MAX": 20,
+            "FENCE_AUTOENABLE" : 3,
+        })
+
+        self.change_mode("GUIDED")
+        # Check fence is not enabled
+        self.assert_fence_disabled()
+
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+        self.user_takeoff(alt_min=15)
+
+        # Check fence is enabled
+        self.assert_fence_enabled()
+
+        # Change to RC controlled mode
+        self.change_mode('LOITER')
+
+        self.set_rc(3, 1800)
+
+        self.wait_mode('RTL', timeout=120)
+        # Assert fence is not healthy now that we are in RTL
+        self.assert_sensor_state(fence_bit, healthy=False)
+
+        self.wait_landed_and_disarmed(0)
+        # the breach should have cleared since we auto-disable the
+        # fence on landing
+        self.assert_fence_disabled()
+
+        # Assert fences have gone now that we have landed and disarmed
+        self.assert_sensor_state(fence_bit, present=True, enabled=False)
+
+        # Disable the fence using mavlink command to ensure cleaned up SITL state
+        self.assert_fence_disabled()
+
     def GPSGlitchLoiter(self, timeout=30, max_distance=20):
         """fly_gps_glitch_loiter_test. Fly south east in loiter and test
         reaction to gps glitch."""
@@ -7455,7 +7499,7 @@ def AvoidanceAltFence(self):
             self.set_rc(3, 1080)
             tstart = self.get_sim_time()
             while True:
-                if self.get_sim_time_cached() - tstart > 120:
+                if self.get_sim_time_cached() - tstart > 20:
                     break
                 alt = self.get_altitude(relative=True)
                 self.progress("Altitude %s" % alt)
@@ -7471,7 +7515,6 @@ def AvoidanceAltFence(self):
         if ex is not None:
             raise ex
 
-
     def global_position_int_for_location(self, loc, time_boot, heading=0):
         return self.mav.mav.global_position_int_encode(
             int(time_boot * 1000), # time_boot_ms
@@ -10226,6 +10269,7 @@ def tests1d(self):
              self.MinAltFence,
              self.FenceFloorEnabledLanding,
              self.FenceFloorAutoDisableLanding,
+             self.FenceFloorAutoEnableOnArming,
              self.AutoTuneSwitch,
              self.GPSGlitchLoiter,
              self.GPSGlitchLoiter2,