Tools: add test for no short FS in auto mode

Author: ohyaiamhere

Tools/autotest/arduplane.py

@@ -1351,6 +1351,28 @@ def ThrottleFailsafeFence(self):
             raise NotAchievedException("Fence not enabled after RC fail")
         self.do_fence_disable() # Ensure the fence is disabled after test
 
+    def NoShortFailsafe(self):
+        '''No short failsafe in auto mode'''
+        self.set_parameters({
+            "FS_GCS_ENABL": 1, # GCS failsafe : heartbeat
+            "FS_SHORT_ACTN": 0, # Short failsafe action: ignore if in auto|guided|loiter, otherwise circle
+            "FS_LONG_ACTN": 0, # Long failsafe action: continue
+            "RTL_AUTOLAND": 1,
+            "MAV_GCS_SYSID": self.mav.source_system,
+        })
+        self.start_flying_simple_relhome_mission([
+            (mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 30),
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 800, 0, 0),
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 800, 800, 0),
+        ])
+        self.wait_current_waypoint(2)
+        self.progress("Disconnecting GCS")
+        self.set_heartbeat_rate(0)
+        self.delay_sim_time(10)
+        self.wait_mode("AUTO", timeout=10)
+        self.set_heartbeat_rate(self.speedup)
+        self.fly_home_land_and_disarm()
+
     def GCSFailsafe(self):
         '''Ensure Long-Failsafe works on GCS loss'''
         self.start_subtest("Test Failsafe: RTL")
@@ -7985,6 +8007,7 @@ def tests1a(self):
             self.ThrottleFailsafe,
             self.NeedEKFToArm,
             self.ThrottleFailsafeFence,
+            self.NoShortFailsafe,
             self.SoaringClimbRate,
             self.TestFlaps,
             self.DO_CHANGE_SPEED,