ArgenTech: FireEye RealFlight autotest class

Most of this is dirty hackery, and can't actually run in CI or anything,
but being able to create tests with the autotest framework is
beneficial, particularly to thoroughly test the new engine-out script.

Tools/autotest/ArduPlane_Tests/EngineOutScript/mission.waypoints

@@ -0,0 +1,11 @@
+QGC WPL 110
+0	1	0	16	0	0	0	0	36.8325080	-2.8512098	224.024950	1
+1	0	3	84	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	6.096000	1
+2	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	36.82814570	-2.85303350	6.096000	1
+3	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	36.82386890	-2.85902020	6.096000	1
+4	0	3	17	0.00000000	0.00000000	0.00000000	0.00000000	36.82598160	-2.86116600	6.096000	1
+5	0	3	189	0.00000000	0.00000000	0.00000000	0.00000000	36.83294860	-2.85484150	60.960000	1
+6	0	3	18	0.00000000	0.00000000	152.40000000	0.00000000	36.83294860	-2.85484150	60.960000	1
+7	0	3	31	0.00000000	152.40000000	0.00000000	0.00000000	36.83294860	-2.85484150	30.480000	1
+8	0	3	18	1.00000000	0.00000000	152.40000000	1.00000000	36.83294860	-2.85484150	30.480000	1
+9	0	3	85	0.00000000	0.00000000	0.00000000	0.00000000	36.83250810	-2.85121000	0.000000	1

Tools/autotest/autotest.py

@@ -31,6 +31,7 @@
 import balancebot
 import sailboat
 import helicopter
+import fireeye
 
 import examples
 from pysim import util
@@ -288,6 +289,7 @@ def should_run_step(step):
     "Sailboat": "ardurover",
     "SITLPeriphUniversal": "sitl_periph_universal.AP_Periph",
     "CAN": "arducopter",
+    "FireEye": "arduplane",
 }
 
 
@@ -359,6 +361,7 @@ def find_specific_test_to_run(step):
     "test.Sub": ardusub.AutoTestSub,
     "test.Tracker": antennatracker.AutoTestTracker,
     "test.CAN": arducopter.AutoTestCAN,
+    "test.FireEye": fireeye.AutoTestFireEye,
 }
 
 supplementary_test_binary_map = {

Tools/autotest/default_params/fireeye-engout.parm

@@ -0,0 +1,11 @@
+ENGOUT_AUX_FUNC,307
+ENGOUT_DELAY,2
+ENGOUT_FS_ENABLE,1
+ENGOUT_GLIDE_SPD,22
+ENGOUT_QAST_GSPD,5
+ENGOUT_QAST_TIME,75
+ENGOUT_QRTL_TIME,45
+ENGOUT_RPM_CHAN,2
+ENGOUT_RPM_THRSH,500
+ENGOUT_VIB_THRSH,10000
+Q_RTL_ALT, 60

Tools/autotest/default_params/fireeye.parm

@@ -0,0 +1,175 @@
+AHRS_EKF_TYPE,10
+AIRSPEED_CRUISE,22
+AIRSPEED_MAX,27
+AIRSPEED_MIN,20
+ARMING_RUDDER,2
+ARSPD_TYPE,100
+ARSPD_USE,1
+BATT_MONITOR,3
+BATT_VOLT_MULT,5.61
+EFI_FUEL_DENS,1
+EFI_TYPE,7
+EK3_IMU_MASK,1
+EK3_OGN_HGT_MASK,1
+FBWB_CLIMB_RATE,1
+FENCE_ALT_MIN,30
+FENCE_ENABLE,1
+FENCE_OPTIONS,0
+FLIGHT_OPTIONS,2
+FLTMODE_CH,0
+FS_GCS_ENABL,1
+FS_LONG_ACTN,1
+ICE_ENABLE,1
+ICE_OPTIONS,4
+ICE_START_PCT,0
+ICE_STARTER_TIME,0.1
+LAND_DISARMDELAY,3
+LEVEL_ROLL_LIMIT,7
+MIXING_GAIN,0.75
+NAVL1_LIM_BANK,25
+NAVL1_PERIOD,20
+PTCH_LIM_MAX_DEG,10
+PTCH_LIM_MIN_DEG,-10
+PTCH_RATE_D,0.0793846
+PTCH_RATE_FF,1.744243
+PTCH_RATE_FLTD,10
+PTCH_RATE_FLTT,1.515761
+PTCH_RATE_I,2.642293
+PTCH_RATE_IMAX,0.67
+PTCH_RATE_P,3.523058
+PTCH_TRIM_DEG,2.5
+PTCH2SRV_RMAX_DN,75
+PTCH2SRV_RMAX_UP,75
+PTCH2SRV_TCONST,0.75
+Q_A_ANG_LIM_TC,2
+Q_A_INPUT_TC,0.15
+Q_A_RAT_PIT_D,0.0115453
+Q_A_RAT_PIT_FLTT,10
+Q_A_RAT_PIT_I,0.509538
+Q_A_RAT_PIT_P,0.509538
+Q_A_RAT_RLL_D,0.0138788
+Q_A_RAT_RLL_FLTT,10
+Q_A_RAT_RLL_I,0.5261019
+Q_A_RAT_RLL_P,0.5261019
+Q_A_RAT_YAW_D,0.01
+Q_A_RAT_YAW_FLTD,10
+Q_A_RAT_YAW_FLTE,2
+Q_A_RAT_YAW_FLTT,10
+Q_A_RAT_YAW_I,0.05
+Q_A_RAT_YAW_P,0.4999999
+Q_A_RATE_P_MAX,30
+Q_A_RATE_R_MAX,30
+Q_A_THR_MIX_MIN,0.2
+Q_ACRO_PIT_RATE,40
+Q_ACRO_RLL_RATE,40
+Q_ACRO_YAW_RATE,40
+Q_ANGLE_MAX,1000
+Q_ASSIST_ANGLE,20
+Q_ASSIST_SPEED,18
+Q_ENABLE,1
+Q_FRAME_CLASS,4
+Q_FRAME_TYPE,3
+Q_FW_LND_APR_RAD,200
+Q_FWD_MANTHR_MAX,100
+Q_FWD_PIT_LIM,2.5
+Q_FWD_THR_GAIN,3.9
+Q_LAND_FINAL_ALT,9
+Q_LAND_FINAL_SPD,0.9
+Q_LAND_ICE_CUT,0
+Q_LOIT_ACC_MAX,100
+Q_LOIT_ANG_MAX,20
+Q_LOIT_BRK_DELAY,0
+Q_LOIT_BRK_JERK,500
+Q_M_HOVER_LEARN,1
+Q_M_SPIN_ARM,0.095
+Q_M_SPIN_MAX,1
+Q_M_SPIN_MIN,0.1
+Q_M_THST_HOVER,0.5
+Q_M_YAW_HEADROOM,100
+Q_OPTIONS,1
+Q_P_ACCZ_I,0.15
+Q_P_ACCZ_IMAX,200
+Q_P_VELXY_D,0
+Q_P_VELXY_I,0.17
+Q_PILOT_SPD_DN,1
+Q_PILOT_SPD_UP,2
+Q_PLT_Y_RATE,25
+Q_RTL_ALT,30
+Q_TRAN_PIT_MAX,1
+Q_TRANS_DECEL,1
+Q_TRANSITION_MS,1000
+Q_VFWD_ALT,2
+Q_WP_SPEED_DN,225
+Q_WP_SPEED_UP,200
+Q_WVANE_ANG_MIN,0.5
+Q_WVANE_GAIN,2
+RALLY_INCL_HOME,0
+RALLY_LIMIT_KM,50
+RC_OPTIONS,288
+RC3_TRIM,1000
+RC7_OPTION,96
+RC8_OPTION,4
+RELAY2_FUNCTION,2
+RELAY2_PIN,1
+RLL_RATE_D,0.0481776
+RLL_RATE_FF,0.8620883
+RLL_RATE_FLTD,10
+RLL_RATE_FLTT,2.273642
+RLL_RATE_I,0.8620883
+RLL_RATE_IMAX,0.67
+RLL_RATE_P,0.9492083
+RLL2SRV_RMAX,75
+ROLL_LIMIT_DEG,25
+RPM1_TYPE,0
+RPM2_TYPE,10
+RTL_ALTITUDE,-1
+RTL_AUTOLAND,2
+RTL_RADIUS,152
+SCALING_SPEED,20
+SCR_ENABLE,1
+SERIAL3_BAUD,38
+SERIAL4_BAUD,38
+SERVO_AUTO_TRIM,1
+SERVO1_TRIM,1508
+SERVO10_FUNCTION,38
+SERVO11_FUNCTION,39
+SERVO12_FUNCTION,40
+SERVO2_FUNCTION,80
+SERVO2_REVERSED,1
+SERVO2_TRIM,1400
+SERVO3_MAX,2000
+SERVO3_MIN,1000
+SERVO3_TRIM,1000
+SERVO4_FUNCTION,79
+SERVO4_TRIM,1600
+SERVO5_FUNCTION,33
+SERVO6_FUNCTION,34
+SERVO7_FUNCTION,35
+SERVO8_FUNCTION,36
+SERVO9_FUNCTION,37
+SIM_GPS_NUMSATS,69
+SIM_MAG1_OFS_X,5
+SIM_MAG1_OFS_Y,13
+SIM_MAG1_OFS_Z,-18
+SIM_MAG2_OFS_X,5
+SIM_MAG2_OFS_Y,13
+SIM_MAG2_OFS_Z,-18
+SIM_MAG3_OFS_X,5
+SIM_MAG3_OFS_Y,13
+SIM_MAG3_OFS_Z,-18
+STAB_PITCH_DOWN,5
+TECS_CLMB_MAX,1.6
+TECS_PITCH_MAX,3
+TECS_PITCH_MIN,-8
+TECS_PTCH_DAMP,0.1
+TECS_RLL2THR,13
+TECS_SINK_MAX,4
+TECS_SINK_MIN,2.5
+TECS_SPDWEIGHT,1.1
+TECS_TIME_CONST,7
+THR_SLEWRATE,50
+THROTTLE_NUDGE,0
+TRIM_THROTTLE,52
+USE_REV_THRUST,0
+WP_LOITER_RAD,304
+WP_RADIUS,118