From 390c311d8a6e00630fa120bbf16939a89ce4c70d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 8 Aug 2026 10:46:17 +1000
Subject: [PATCH] autotest: test multiple MAVLink rangefinders

---
 Tools/autotest/arducopter.py | 68 ++++++++++++++++++++++++++++++++++++
 1 file changed, 68 insertions(+)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index d11009c6329..a5a4fb29414 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -12494,6 +12494,73 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
             if len(wanted_distances.keys()) == 0:
                 break
 
+    def MAVLinkRangeFinderIDs(self):
+        '''test multiple MAVLink rangefinders selected by DISTANCE_SENSOR id'''
+        self.context_push()
+        try:
+            self.set_parameters({
+                "SERIAL5_PROTOCOL": 1,
+                "RNGFND1_TYPE": 10,
+                "RNGFND1_ADDR": 1,
+                "RNGFND2_TYPE": 10,
+                "RNGFND2_ADDR": 2,
+            })
+            self.reboot_sitl()
+
+            # we are interacting with the autopilot, reduce chance of
+            # hitting timeouts on supplied data:
+            self.context_set_speedup(1)
+            self.context_set_message_rate_hz("DISTANCE_SENSOR", 10)
+
+            self.context_collect("DISTANCE_SENSOR")
+            input_distances = {
+                1: 20,
+                2: 30,
+            }
+            for _ in range(10):
+                for input_id, distance_cm in input_distances.items():
+                    self.mav.mav.distance_sensor_send(
+                        0,  # time_boot_ms
+                        10, # min_distance
+                        50, # max_distance
+                        distance_cm, # current_distance
+                        mavutil.mavlink.MAV_DISTANCE_SENSOR_LASER, # type
+                        input_id, # id
+                        mavutil.mavlink.MAV_SENSOR_ROTATION_PITCH_270, # orientation
+                        255 # covariance
+                    )
+                self.delay_sim_time(0.1, reason="collect rangefinder output")
+
+            messages = self.context_collection("DISTANCE_SENSOR")
+            self.context_stop_collecting("DISTANCE_SENSOR")
+            if not messages:
+                raise NotAchievedException("Did not receive DISTANCE_SENSOR output")
+
+            output_distances = {
+                0: input_distances[1],
+                1: input_distances[2],
+            }
+            seen_ids = set()
+            for message in messages:
+                if message.id not in output_distances:
+                    raise NotAchievedException(
+                        "Unexpected MAVLink rangefinder backend id %u" % message.id)
+                distance_cm = output_distances[message.id]
+                if abs(message.current_distance - distance_cm) > 1:
+                    raise NotAchievedException(
+                        "MAVLink rangefinder distance mismatch "
+                        "(backend=%u want=%u got=%u)" %
+                        (message.id, distance_cm, message.current_distance))
+                seen_ids.add(message.id)
+
+            if seen_ids != set(output_distances.keys()):
+                raise NotAchievedException(
+                    "Did not receive output from all MAVLink rangefinder backends "
+                    "(want=%s got=%s)" %
+                    (sorted(output_distances.keys()), sorted(seen_ids)))
+        finally:
+            self.context_pop()
+
     def fly_rangefinder_mavlink_distance_sensor(self):
         self.start_subtest("Test mavlink rangefinder using DISTANCE_SENSOR messages")
         self.context_push()
@@ -16129,6 +16196,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
              self.ModeFollow,
              self.ModeFollow_with_FOLLOW_TARGET,
              self.RangeFinderDrivers,
+             self.MAVLinkRangeFinderIDs,
              self.FlyRangeFinderMAVlink,
              self.FlyRangeFinderSITL,
              self.RangeFinderDriversMaxAlt_LightwareSerial,