autotest: add autotest for param-set-filter.lua applet

Author: peterbarker

Tools/autotest/arducopter.py

@@ -13671,6 +13671,36 @@ def PLDNoParameters(self):
         self.set_parameter('SIM_PLD_ENABLE', 1)
         self.wait_statustext('Set SIM_PLD_LAT, SIM_PLD_LAT and SIM_PLD_ALT')
 
+    def ParamSetFilter(self):
+        '''test LUA parameter-set-filter.lua applet'''
+        self.install_applet_script_context("param-set-filter.lua")
+        self.install_mavlink_module_context()
+        self.set_parameters({
+            'SCR_ENABLE': 1,
+        })
+        self.set_parameters({
+            'MAV_OPTIONS': 2,
+        })
+        self.reboot_sitl()
+
+        self.wait_ready_to_arm()  # scripts will be ready by now!
+        self.start_subtest("set RTL_ALT freely")
+        self.set_parameter("RTL_ALT", 23)
+        self.set_parameter("RTL_ALT", 28)
+
+        self.start_subtest("Unable to set DISARM_DELAY freely")
+        self.context_push()
+        self.context_collect('STATUSTEXT')
+        old_disarm_delay_value = self.get_parameter('DISARM_DELAY')
+        self.send_set_parameter_direct('DISARM_DELAY', 78)
+        self.wait_statustext('param-set-filter: param set denied (DISARM_DELAY)', check_context=True)
+        self.assert_parameter_value('DISARM_DELAY', old_disarm_delay_value)
+        self.context_pop()
+
+        self.start_subtest("Disabling applet via parameter should allow freely setting DISARM_DELAY")
+        self.set_parameter("PSF_ENFORCE", 0)
+        self.set_parameter("DISARM_DELAY", 56)
+
     def do_land(self):
         self.change_mode('LAND')
         self.wait_disarmed()
@@ -13685,6 +13715,7 @@ def tests2b(self):  # this block currently around 9.5mins here
             self.DynamicRpmNotchesRateThread,
             self.PIDNotches,
             self.StaticNotches,
+            self.ParamSetFilter,
             self.RefindGPS,
             Test(self.GyroFFT, attempts=1, speedup=8),
             Test(self.GyroFFTHarmonic, attempts=4, speedup=8),