autotest: test for circle exclusion fence using AUTOENABLE=2

Tools/autotest/arduplane.py

@@ -3898,6 +3898,71 @@ def FenceAutoEnableDisableSwitch(self):
         self.change_altitude(self.homeloc.alt + cruise_alt)
         self.fly_home_land_and_disarm(timeout=250)
 
+    def FenceCircleExclusionAutoEnable(self):
+        '''Tests autolanding when alt min fence is enabled'''
+        self.set_parameters({
+            "FENCE_TYPE": 2,     # Set fence type to circle
+            "FENCE_ACTION": 1,   # Set action to RTL
+            "FENCE_AUTOENABLE": 2,
+            "FENCE_ENABLE" : 0,
+            "RTL_AUTOLAND" : 2,
+        })
+
+        # Grab Home Position
+        self.mav.recv_match(type='HOME_POSITION', blocking=True)
+        self.homeloc = self.mav.location()
+
+        fence_loc = self.home_position_as_mav_location()
+        self.location_offset_ne(fence_loc, 50, 50)
+        radius_exc = 20
+        item = self.mav.mav.mission_item_int_encode(
+            1,
+            1,
+            0, # seq
+            mavutil.mavlink.MAV_FRAME_GLOBAL_INT,
+            mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION,
+            0, # current
+            0, # autocontinue
+            radius_exc, # p1
+            0, # p2
+            0, # p3
+            0, # p4
+            int(fence_loc.lat * 1e7), # latitude
+            int(fence_loc.lng * 1e7), # longitude
+            0.0000, # altitude
+            mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
+
+        self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, [ item ])
+        self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
+
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+
+        self.takeoff(alt=50, mode='TAKEOFF')
+        self.change_mode("FBWA")
+        self.set_rc(3, 1100)    # lower throttle
+
+        self.progress("Waiting for RTL")
+        tstart = self.get_sim_time()
+        mode = "RTL"
+        while not self.mode_is(mode, drain_mav=False):
+            self.mav.messages['HEARTBEAT'].custom_mode
+            self.progress("mav.flightmode=%s Want=%s Alt=%f" % (
+                self.mav.flightmode, mode, self.get_altitude(relative=True)))
+            if (self.get_sim_time_cached() > tstart + 120):
+                raise WaitModeTimeout("Did not change mode")
+        self.progress("Got mode %s" % mode)
+        # switch to FBWA
+        self.change_mode("FBWA")
+        self.set_rc(3, 1500)    # raise throttle
+        self.wait_altitude(25, 35, timeout=50, relative=True)
+        self.set_rc(3, 1000)    # lower throttle
+        # Now check we can land
+        self.fly_home_land_and_disarm()
+        self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_ALL)
+        self.set_current_waypoint(0, check_afterwards=False)
+        self.set_rc(3, 1000)    # lower throttle
+
     def FenceEnableDisableSwitch(self):
         '''Tests enablement and disablement of fences on a switch'''
         fence_bit = mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE
@@ -5822,6 +5887,7 @@ def tests(self):
             self.FenceMinAltEnableAutoland,
             self.FenceMinAltAutoEnableAbort,
             self.FenceAutoEnableDisableSwitch,
+            self.FenceCircleExclusionAutoEnable,
             self.FenceEnableDisableSwitch,
             self.FenceEnableDisableAux,
             self.FenceBreachedChangeMode,