From fdb1c26ae82636fca129922a0d9eb69aac830989 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 5 Dec 2023 19:43:19 +0900
Subject: [PATCH] Tools: copter do-change-speed autotest checks takeoff

---
 .../DO_CHANGE_SPEED/mission.txt               | 23 ++++++++++---------
 Tools/autotest/arducopter.py                  | 13 ++++++++---
 2 files changed, 22 insertions(+), 14 deletions(-)

diff --git a/Tools/autotest/ArduCopter_Tests/DO_CHANGE_SPEED/mission.txt b/Tools/autotest/ArduCopter_Tests/DO_CHANGE_SPEED/mission.txt
index f4ef0ef2a1f1f..846be46dd5c00 100644
--- a/Tools/autotest/ArduCopter_Tests/DO_CHANGE_SPEED/mission.txt
+++ b/Tools/autotest/ArduCopter_Tests/DO_CHANGE_SPEED/mission.txt
@@ -1,11 +1,12 @@
-QGC WPL 110
-0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.363262	149.165237	584.090027	1
-1	0	3	22	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	20.000000	1
-2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.362656	149.165072	20.000000	1
-3	0	0	178	1.000000	15.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
-4	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.360174	149.167908	14.000000	1
-5	0	0	178	1.000000	10.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
-6	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.363296	149.169244	18.000000	1
-7	0	0	178	1.000000	16.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
-8	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364115	149.165747	20.000000	1
-9	0	0	20	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+QGC WPL 110
+0	1	0	16	0	0	0	0	-35.3632620	149.1652370	584.090000	1
+1	0	3	22	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	20.000000	1
+2	0	3	178	0.00000000	4.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.000000	1
+3	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36265600	149.16507200	20.000000	1
+4	0	0	178	1.00000000	15.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.000000	1
+5	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36017400	149.16790800	14.000000	1
+6	0	0	178	1.00000000	10.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.000000	1
+7	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36329600	149.16924400	18.000000	1
+8	0	0	178	1.00000000	16.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.000000	1
+9	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36411500	149.16574700	20.000000	1
+10	0	0	20	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.000000	1
diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index f8afa254b4cec..449b09064e06a 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -9505,14 +9505,21 @@ def DO_CHANGE_SPEED(self):
         self.wait_ready_to_arm()
         self.arm_vehicle()
 
-        self.wait_current_waypoint(2)
+        self.wait_current_waypoint(1)
+        self.wait_groundspeed(
+            3.5, 4.5,
+            minimum_duration=5,
+            timeout=60,
+        )
+
+        self.wait_current_waypoint(3)
         self.wait_groundspeed(
             14.5, 15.5,
             minimum_duration=10,
             timeout=60,
         )
 
-        self.wait_current_waypoint(4)
+        self.wait_current_waypoint(5)
         self.wait_groundspeed(
             9.5, 11.5,
             minimum_duration=10,
@@ -9520,7 +9527,7 @@ def DO_CHANGE_SPEED(self):
         )
 
         self.set_parameter("ANGLE_MAX", 6000)
-        self.wait_current_waypoint(6)
+        self.wait_current_waypoint(7)
         self.wait_groundspeed(
             15.5, 16.5,
             minimum_duration=10,