Autotest: Heli: Update autorotation tests for flare and touchdown

Tools/autotest/helicopter.py

@@ -366,8 +366,10 @@ def AutorotationPreArm(self):
         self.context_push()
         self.progress("Check pass when autorotation mode not enabled")
         self.set_parameters({"AROT_ENABLE": 0,
-                             "RPM1_TYPE": 0})
+                             "RPM1_TYPE": 0,
+                             "RNGFND1_TYPE": 0})
         self.reboot_sitl()
+        # Check that we don't fail any autorotation related prearms when the mode is not enabled
         try:
             self.wait_statustext("PreArm: AROT: RPM1 not enabled", timeout=50)
         except AutoTestTimeoutException:
@@ -388,6 +390,13 @@ def AutorotationPreArm(self):
         self.progress("Check pre-arm fails with bad RSC config")
         self.wait_statustext("PreArm: AROT: H_RSC_AROT_* not configured", timeout=50)
 
+        self.progress("Check pre-arm fails with no rangefinder configured")
+        self.wait_statustext("PreArm: AROT: Downward rangefinder not configured", timeout=50)
+        self.set_parameters({"RNGFND1_TYPE": 100,
+                             "RNGFND1_ORIENT": 25})
+
+        # TODO: Add colective misconfigure for bad hover blade pitch angle
+
         self.progress("Check pre-arms clear with all issues corrected")
         self.set_parameter("H_RSC_AROT_ENBL", 1)
         self.wait_ready_to_arm()