autotest: add test for getting MAV_STATE_BOOTCOUNT heartbeats

Author: peterbarker

Tools/autotest/arducopter.py

@@ -11521,6 +11521,20 @@ def Clamp(self):
 
         self.reboot_sitl()  # because we set home
 
+    def MAV_STATE_BOOT(self):
+        '''check mav state is boot during init'''
+        self.context_push()
+        self.context_collect('HEARTBEAT')
+        self.set_parameter("BRD_BOOT_DELAY", 30)
+        self.reboot_sitl()
+        heartbeats = self.context_collection('HEARTBEAT')
+        count = len(list(filter(lambda hb : hb.system_status == mavutil.mavlink.MAV_STATE_BOOT, heartbeats)))
+        self.progress(f"Saw {count} MAV_STATE_BOOT heartbeats")
+        if count == 0:
+            raise NotAchievedException('Never saw heartbeat with MAV_STATE_BOOT')
+        self.context_pop()
+        self.reboot_sitl()
+
     def tests2b(self):  # this block currently around 9.5mins here
         '''return list of all tests'''
         ret = ([
@@ -11611,6 +11625,7 @@ def tests2b(self):  # this block currently around 9.5mins here
             self.GuidedForceArm,
             self.GuidedWeatherVane,
             self.Clamp,
+            self.MAV_STATE_BOOT,
         ])
         return ret