From e8dff606fd4b78cfba65bf72288868561798c69c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 2 Oct 2024 15:22:35 +1000
Subject: [PATCH 1/3] .github: split Plane tests into tests1a and tests1b

---
 .github/workflows/test_sitl_plane.yml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/test_sitl_plane.yml b/.github/workflows/test_sitl_plane.yml
index ece1dbfa67dd5..34c112e59b3d3 100644
--- a/.github/workflows/test_sitl_plane.yml
+++ b/.github/workflows/test_sitl_plane.yml
@@ -213,7 +213,8 @@ jobs:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
         config: [
-            sitltest-plane,
+            sitltest-plane-tests1a,
+            sitltest-plane-tests1b,
             sitltest-quadplane,
         ]
 

From 43a3923ee0c8cde3fedcd25daf436225929fd186 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 2 Oct 2024 15:22:36 +1000
Subject: [PATCH 2/3] Tools: split Plane tests into tests1a and tests1b

---
 Tools/autotest/arduplane.py | 25 +++++++++++++++++++++++--
 Tools/autotest/autotest.py  |  8 ++++++++
 Tools/scripts/build_ci.sh   |  8 ++++++--
 3 files changed, 37 insertions(+), 4 deletions(-)

diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 10324ad08b421..e178a8c7db70c 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -6232,6 +6232,13 @@ def MAV_CMD_NAV_LOITER_TO_ALT(self):
 
     def tests(self):
         '''return list of all tests'''
+        ret = []
+        ret.extend(self.tests1a())
+        ret.extend(self.tests1b())
+        return ret
+
+    def tests1a(self):
+        ret = []
         ret = super(AutoTestPlane, self).tests()
         ret.extend([
             self.AuxModeSwitch,
@@ -6289,6 +6296,11 @@ def tests(self):
             self.Soaring,
             self.Terrain,
             self.TerrainMission,
+        ])
+        return ret
+
+    def tests1b(self):
+        return [
             self.TerrainLoiter,
             self.VectorNavEAHRS,
             self.MicroStrainEAHRS5,
@@ -6365,8 +6377,7 @@ def tests(self):
             self.MAV_CMD_EXTERNAL_WIND_ESTIMATE,
             self.GliderPullup,
             self.BadRollChannelDefined,
-        ])
-        return ret
+        ]
 
     def disabled_tests(self):
         return {
@@ -6375,3 +6386,13 @@ def disabled_tests(self):
             "ClimbThrottleSaturation": "requires https://github.com/ArduPilot/ardupilot/pull/27106 to pass",
             "SetHomeAltChange": "https://github.com/ArduPilot/ardupilot/issues/5672",
         }
+
+
+class AutoTestPlaneTests1a(AutoTestPlane):
+    def tests(self):
+        return self.tests1a()
+
+
+class AutoTestPlaneTests1b(AutoTestPlane):
+    def tests(self):
+        return self.tests1b()
diff --git a/Tools/autotest/autotest.py b/Tools/autotest/autotest.py
index 74f08297f1fff..296c930d4faf7 100755
--- a/Tools/autotest/autotest.py
+++ b/Tools/autotest/autotest.py
@@ -278,6 +278,9 @@ def should_run_step(step):
     "CopterTests2b": "arducopter",
 
     "Plane": "arduplane",
+    "PlaneTests1a": "arduplane",
+    "PlaneTests1b": "arduplane",
+
     "Rover": "ardurover",
     "Tracker": "antennatracker",
     "Helicopter": "arducopter-heli",
@@ -352,6 +355,8 @@ def find_specific_test_to_run(step):
     "test.CopterTests2a": arducopter.AutoTestCopterTests2a, # 8m23s
     "test.CopterTests2b": arducopter.AutoTestCopterTests2b, # 8m18s
     "test.Plane": arduplane.AutoTestPlane,
+    "test.PlaneTests1a": arduplane.AutoTestPlaneTests1a,
+    "test.PlaneTests1b": arduplane.AutoTestPlaneTests1b,
     "test.QuadPlane": quadplane.AutoTestQuadPlane,
     "test.Rover": rover.AutoTestRover,
     "test.BalanceBot": balancebot.AutoTestBalanceBot,
@@ -1112,6 +1117,9 @@ def format_epilog(self, formatter):
         'test.CopterTests2a',
         'test.CopterTests2b',
 
+        'test.PlaneTests1a',
+        'test.PlaneTests1b',
+
         'clang-scan-build',
     ]
 
diff --git a/Tools/scripts/build_ci.sh b/Tools/scripts/build_ci.sh
index cd20a58a53235..4d018d415a828 100755
--- a/Tools/scripts/build_ci.sh
+++ b/Tools/scripts/build_ci.sh
@@ -135,8 +135,12 @@ for t in $CI_BUILD_TARGET; do
         run_autotest "Copter" "build.SITLPeriphUniversal" "test.CAN"
         continue
     fi
-    if [ "$t" == "sitltest-plane" ]; then
-        run_autotest "Plane" "build.Plane" "test.Plane"
+    if [ "$t" == "sitltest-plane-tests1a" ]; then
+        run_autotest "Plane" "build.Plane" "test.PlaneTests1a"
+        continue
+    fi
+    if [ "$t" == "sitltest-plane-tests1b" ]; then
+       run_autotest "Plane" "build.Plane" "test.PlaneTests1b"
         continue
     fi
     if [ "$t" == "sitltest-quadplane" ]; then

From 047414c83e185f9aadc7ee1440e370f804fcec7c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 2 Oct 2024 16:20:04 +1000
Subject: [PATCH 3/3] autotest: install terrain handlers in TerrainLoiter test

needs terrain, was passing because previous tests were providing hte autopilot with the data
---
 Tools/autotest/arduplane.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index e178a8c7db70c..5a17c5089db28 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -2924,6 +2924,7 @@ def Terrain(self):
     def TerrainLoiter(self):
         '''Test terrain following in loiter'''
         self.context_push()
+        self.install_terrain_handlers_context()
         self.set_parameters({
             "TERRAIN_FOLLOW": 1, # enable terrain following in loiter
             "WP_LOITER_RAD": 2000, # set very large loiter rad to get some terrain changes