From 9c0130d08ba37f2e5deb1fca4ff924e97749bf50 Mon Sep 17 00:00:00 2001
From: Bob Long <robertlong13@gmail.com>
Date: Wed, 27 Nov 2024 14:22:34 +1100
Subject: [PATCH] autotest: add QuadPlane.RealFlightHover

---
 Tools/autotest/autotest.py                    |  5 ++
 .../realflight-autotest-extra.parm            |  2 +
 Tools/autotest/quadplane.py                   | 62 +++++++++++++++++++
 Tools/autotest/vehicle_test_suite.py          |  2 +
 4 files changed, 71 insertions(+)
 create mode 100644 Tools/autotest/default_params/realflight-autotest-extra.parm

diff --git a/Tools/autotest/autotest.py b/Tools/autotest/autotest.py
index 296c930d4faf7e..2004665f33972b 100755
--- a/Tools/autotest/autotest.py
+++ b/Tools/autotest/autotest.py
@@ -525,6 +525,8 @@ def run_step(step):
     }
     if opts.speedup is not None:
         fly_opts["speedup"] = opts.speedup
+    if opts.realflight_address is not None:
+        fly_opts["realflight_address"] = opts.realflight_address
 
     # handle "test.Copter" etc:
     if step in tester_class_map:
@@ -1017,6 +1019,9 @@ def format_epilog(self, formatter):
     group_sim.add_option("", "--replay",
                          action='store_true',
                          help="enable replay logging for tests")
+    group_sim.add_option("--realflight-address",
+                         default=None,
+                         help="IP address of RealFlight simulator")
     parser.add_option_group(group_sim)
 
     group_completion = optparse.OptionGroup(parser, "Completion helpers")
diff --git a/Tools/autotest/default_params/realflight-autotest-extra.parm b/Tools/autotest/default_params/realflight-autotest-extra.parm
new file mode 100644
index 00000000000000..5e0e6d65425b90
--- /dev/null
+++ b/Tools/autotest/default_params/realflight-autotest-extra.parm
@@ -0,0 +1,2 @@
+SIM_RFL_OPTS,9        # Reset vehicle on start | Don't print frame rate stats
+RC_PROTOCOLS,0x40000  # Only accept UDP RC input
diff --git a/Tools/autotest/quadplane.py b/Tools/autotest/quadplane.py
index 0e6ef03d3f6c27..e81c20088bb75c 100644
--- a/Tools/autotest/quadplane.py
+++ b/Tools/autotest/quadplane.py
@@ -2072,6 +2072,64 @@ def WindEstimateConsistency(self):
                 self.progress("Wind estimates correlated")
                 break
 
+    def setup_RealFlight_vehicle(self, model, home):
+        '''
+        Restart the SITL for RealFlight. RealFlight must already be running and
+        the correct airport and model must be loaded.
+        '''
+        defaults_filepath = self.model_defaults_filepath(model)
+        extra_params = 'default_params/realflight-autotest-extra.parm'
+        defaults_filepath.append(os.path.join(testdir, extra_params))
+        self.customise_SITL_commandline(
+            [
+                f"--home={home}",
+            ],
+            model=f"flightaxis:{self.realflight_address}",
+            defaults_filepath=defaults_filepath
+        )
+
+    def RealFlightHover(self, model, home):
+        '''
+        Perform a simple hover test in RealFlight. Useful for generating logs
+        for comparative analysis.
+        '''
+        if not self.realflight_address:
+            self.progress("Specify an IP address with --realflight-address or REALFLIGHT_IPADDR to run this test")
+            return
+
+        # Log fullrate attitude for PID Review Tool
+        self.set_parameters({
+            "LOG_BITMASK": 0x10FFFF,
+        })
+        self.setup_RealFlight_vehicle(model, home)
+
+        self.wait_ready_to_arm()
+        self.change_mode("QLOITER")
+        self.arm_vehicle()
+        self.set_rc(3, 2000)
+        self.wait_altitude(8, 12, relative=True)
+        self.set_rc(3, 1500)
+        stick_deflections = [
+            (2000, 1500, "Roll right"),
+            (1500, 1500, "Center"),
+            (1000, 1500, "Roll left"),
+            (1500, 1500, "Center"),
+            (1500, 2000, "Pitch forward"),
+            (1500, 1500, "Center"),
+            (1500, 1000, "Pitch back"),
+            (1500, 1500, "Center"),
+        ]
+        n_iterations = 10
+        for i in range(n_iterations):
+            print(f"Control input cycle: {i+1}/{n_iterations}")
+            for roll, pitch, msg in stick_deflections:
+                self.progress(f"{msg}")
+                self.set_rc(1, roll)
+                self.set_rc(2, pitch)
+                self.delay_sim_time(0.5)
+        self.change_mode("QLAND")
+        self.wait_disarmed(timeout=120)
+
     def tests(self):
         '''return list of all tests'''
 
@@ -2123,5 +2181,9 @@ def tests(self):
             self.RTL_AUTOLAND_1,  # as in fly-home then go to landing sequence
             self.RTL_AUTOLAND_1_FROM_GUIDED,  # as in fly-home then go to landing sequence
             self.AHRSFlyForwardFlag,
+            Test(self.RealFlightHover, speedup=1, kwargs={
+                'model': 'realflight-titan-cobra',
+                'home': 'EliField'
+            }),
         ])
         return ret
diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py
index 5885c21267fc9f..1b2e463a1a4695 100644
--- a/Tools/autotest/vehicle_test_suite.py
+++ b/Tools/autotest/vehicle_test_suite.py
@@ -1906,6 +1906,7 @@ def __init__(self,
                  dronecan_tests=False,
                  generate_junit=False,
                  enable_fgview=False,
+                 realflight_address=None,
                  build_opts={}):
 
         self.start_time = time.time()
@@ -1973,6 +1974,7 @@ def __init__(self,
         self.in_drain_mav = False
         self.tlog = None
         self.enable_fgview = enable_fgview
+        self.realflight_address = realflight_address or os.getenv("REALFLIGHT_IPADDR")
 
         self.rc_thread = None
         self.rc_thread_should_quit = False