From a76eb8e5087c23518b74f7c0b3fa1ae6a11f763c Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Fri, 22 Dec 2023 09:36:34 +0000
Subject: [PATCH] autotest: add test for auto-disabling min alt fence breaches
 on disarming

---
 Tools/autotest/arducopter.py | 47 +++++++++++++++++++++++++++++++++++-
 1 file changed, 46 insertions(+), 1 deletion(-)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 991f088098d9c5..879f47541f3de3 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -1675,16 +1675,60 @@ def FenceFloorEnabledLanding(self):
         self.set_rc(3, 1800)
 
         self.wait_mode('RTL', timeout=120)
+
         self.wait_landed_and_disarmed()
         self.assert_fence_enabled()
 
-        # Assert fence is not healthy
+        # Assert fence is healthy now that we have landed disarmed
         self.assert_sensor_state(fence_bit, healthy=False)
 
         # Disable the fence using mavlink command to ensure cleaned up SITL state
         self.do_fence_disable()
         self.assert_fence_disabled()
 
+    def FenceFloorAutoDisableLanding(self):
+        """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_ALT_MIN": 10,
+            "FENCE_ALT_MAX": 20,
+            "FENCE_OPTIONS" : 4,
+        })
+
+        self.change_mode("GUIDED")
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+        self.user_takeoff(alt_min=15)
+
+        # Check fence is enabled
+        self.do_fence_enable()
+        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()
+        self.assert_fence_enabled()
+
+        # Assert fence is healthy now that we have landed disarmed
+        self.assert_sensor_state(fence_bit, healthy=True)
+
+        # Disable the fence using mavlink command to ensure cleaned up SITL state
+        self.do_fence_disable()
+        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."""
@@ -10056,6 +10100,7 @@ def tests1d(self):
              self.MaxAltFence,
              self.MinAltFence,
              self.FenceFloorEnabledLanding,
+             self.FenceFloorAutoDisableLanding,
              self.AutoTuneSwitch,
              self.GPSGlitchLoiter,
              self.GPSGlitchLoiter2,