Add test for scripting flip mode

Tools/autotest/arducopter.py

@@ -6158,7 +6158,7 @@
 
             # double-notch should do better, but check for within 5%
             if peakdb2 * 1.05 > peakdb1:
                 raise NotAchievedException(
                     "Double-notch peak was higher than single-notch peak %fdB > %fdB" %
                     (peakdb2, peakdb1))
 
@@ -6182,7 +6182,7 @@
         self.context_pop()
 
         if ex is not None:
             raise ex
 
     def DynamicRpmNotches(self):
         """Use dynamic harmonic notch to control motor noise via ESC telemetry."""
@@ -12281,6 +12281,36 @@
         # restart GPS driver
         self.reboot_sitl()
 
+    def ScriptingFlipMode(self):
+        '''test adding custom mode from scripting'''
+        # Really it would be nice to check for the AVAILABLE_MODES message, but pymavlink does not understand them yet.
+
+        # enable scripting and install flip script
+        self.set_parameters({
+            "SCR_ENABLE": 1,
+        })
+        self.install_example_script_context('Flip_Mode.lua')
+        self.reboot_sitl()
+
+        # Takeoff in loiter
+        self.takeoff(10, mode="LOITER")
+
+        # Try and switch to flip, should not be posible from loiter
+        try:
+            self.change_mode(100, timeout=10)
+        except AutoTestTimeoutException:
+            self.progress("PASS not able to enter from loiter")
+
+        # Should be alowd to enter from alt hold
+        self.change_mode("ALT_HOLD")
+        self.change_mode(100)
+
+        # Should return to previous mode after flipping
+        self.wait_mode("ALT_HOLD")
+
+        # Test done
+        self.land_and_disarm()
+
     def tests2b(self):  # this block currently around 9.5mins here
         '''return list of all tests'''
         ret = ([
@@ -12389,6 +12419,7 @@
             self.ScriptingAHRSSource,
             self.CommonOrigin,
             self.TestTetherStuck,
+            self.ScriptingFlipMode,
         ])
         return ret
 

libraries/AP_Scripting/examples/Flip_Mode.lua

@@ -217,13 +217,11 @@ local function exit()
 end
 
 local function update()
+    local mode = vehicle:get_mode()
 
-    -- Only allow entry into flip mode if armed and flying
-    local armed = arming:is_armed()
-    local flying = vehicle:get_likely_flying()
-    FLIP_MODE_STATE:allow_entry(armed and flying)
+    -- Update entry state
+    FLIP_MODE_STATE:allow_entry(allow_enter(mode))
 
-    local mode = vehicle:get_mode()
     if mode == MODE_NUMBER then
         if last_mode_number ~= MODE_NUMBER then
             -- Fist call after entering