From 9c212c10f4e962839a7b4708aa67aa8d83700d32 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Sat, 13 Jan 2024 18:03:42 +0000
Subject: [PATCH] autotest: clean-up fence manipulation functions and add test
 for auto-enablement on copter

---
 Tools/autotest/arducopter.py         | 13 +++++++------
 Tools/autotest/vehicle_test_suite.py | 21 ++++++++-------------
 2 files changed, 15 insertions(+), 19 deletions(-)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 00ba7fae2160c1..6d09ec47b766f0 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -1687,15 +1687,14 @@ def FenceFloorEnabledLanding(self):
         self.assert_fence_disabled()
 
     def FenceFloorAutoDisableLanding(self):
-        """Ensures we can initiate and complete an RTL while the fence is
-        enabled.
-        """
+        """Ensures we can initiate and complete an RTL while the fence is enabled"""
+
         fence_bit = mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE
 
         self.progress("Test Landing while fence floor enabled")
         self.set_parameters({
             "AVOID_ENABLE": 0,
-            "FENCE_TYPE": 15,
+            "FENCE_TYPE": 11,
             "FENCE_ALT_MIN": 10,
             "FENCE_ALT_MAX": 20,
             "FENCE_AUTOENABLE" : 1,
@@ -1707,7 +1706,7 @@ def FenceFloorAutoDisableLanding(self):
         self.user_takeoff(alt_min=15)
 
         # Check fence is enabled
-        self.do_fence_enable()
+        self.do_fence_enable_except_floor()
         self.assert_fence_enabled()
 
         # Change to RC controlled mode
@@ -1719,7 +1718,9 @@ def FenceFloorAutoDisableLanding(self):
         # Assert fence is not healthy now that we are in RTL
         self.assert_sensor_state(fence_bit, healthy=False)
 
-        self.wait_landed_and_disarmed()
+        self.wait_landed_and_disarmed(0)
+        # the breach should have cleared since we auto-disable the 
+        # fence on landing
         self.assert_fence_enabled()
 
         # Assert fence is healthy now that we have landed disarmed
diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py
index be0cecc95fee4b..eed66bbdb766c3 100644
--- a/Tools/autotest/vehicle_test_suite.py
+++ b/Tools/autotest/vehicle_test_suite.py
@@ -6592,22 +6592,17 @@ def do_set_relay_mavproxy(self, relay_num, on_off):
         self.mavproxy.expect("Loaded module relay")
         self.mavproxy.send("relay set %d %d\n" % (relay_num, on_off))
 
-    def do_fence_en_or_dis_able(self, value, want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED):
-        if value:
-            p1 = 1
-        else:
-            p1 = 0
-        self.run_cmd(
-            mavutil.mavlink.MAV_CMD_DO_FENCE_ENABLE,
-            p1=p1, # param1
-            want_result=want_result,
-        )
-
     def do_fence_enable(self, want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED):
-        self.do_fence_en_or_dis_able(True, want_result=want_result)
+        self.run_cmd(mavutil.mavlink.MAV_CMD_DO_FENCE_ENABLE, p1=1, want_result=want_result)
 
     def do_fence_disable(self, want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED):
-        self.do_fence_en_or_dis_able(False, want_result=want_result)
+        self.run_cmd(mavutil.mavlink.MAV_CMD_DO_FENCE_ENABLE, p1=0, want_result=want_result)
+
+    def do_fence_disable_floor(self, want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED):
+        self.run_cmd(mavutil.mavlink.MAV_CMD_DO_FENCE_ENABLE, p1=0, p2=8, want_result=want_result)
+
+    def do_fence_enable_except_floor(self, want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED):
+        self.run_cmd(mavutil.mavlink.MAV_CMD_DO_FENCE_ENABLE, p1=1, p2=7, want_result=want_result)
 
     #################################################
     # WAIT UTILITIES