Autotest: Add copter weathervane tests

Tools/autotest/ArduCopter_Tests/Weathervane/weathervane_mission.txt

@@ -0,0 +1,6 @@
+QGC WPL 110
+0	1	0	16	0.000000	0.000000	0.000000	0.000000	-35.362881	149.165222	582.000000	1
+1	0	3	22	0.000000	0.000000	0.000000	0.000000	-35.36328940	149.16516420	20.000000	1
+2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.36300830	149.16518770	20.000000	1
+4	0	3	19	20.000000	0.000000	0.000000	1.000000	0.000000	0.000000	20.000000	1
+12	0	3	20	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1

Tools/autotest/arducopter.py

@@ -4554,6 +4554,50 @@ class AutoTestCopter(AutoTest):
         if ex is not None:
             raise ex
 
+    def Weathervane(self):
+        '''Test copter weathervaning'''
+        # We test nose into wind code paths and yaw direction here and test side into wind
+        # yaw direction in QuadPlane tests to reduce repetition.
+        self.set_parameters({
+            "SIM_WIND_SPD": 10,
+            "SIM_WIND_DIR": 100,
+            "GUID_OPTIONS": 129, # allow weathervaning and arming from tx in guided
+            "AUTO_OPTIONS": 131, # allow arming in auto, take off without raising the stick, and weathervaning
+            "WVANE_ENABLE": 1,
+            "WVANE_GAIN": 3,
+            "WVANE_VELZ_MAX": 1,
+            "WVANE_SPD_MAX": 2
+        })
+
+        self.progress("Test weathervaning in auto")
+        self.load_mission("weathervane_mission.txt", strict=False)
+
+        self.change_mode("AUTO")
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+
+        self.wait_statustext("Weathervane Active", timeout=60)
+        self.do_RTL()
+        self.wait_disarmed()
+        self.change_mode("GUIDED")
+
+        # After take off command in guided we enter the velaccl sub mode
+        self.progress("Test weathervaning in guided vel-accel")
+        self.set_rc(3, 1000)
+        self.wait_ready_to_arm()
+
+        self.arm_vehicle()
+        self.user_takeoff(alt_min=15)
+        # Wait for heading to match wind direction.
+        self.wait_heading(100, accuracy=8, timeout=100)
+
+        self.progress("Test weathervaning in guided pos only")
+        # Travel directly north to align heading north and build some airspeed.
+        self.fly_guided_move_local(x=40, y=0, z_up=15)
+        # Wait for heading to match wind direction.
+        self.wait_heading(100, accuracy=8, timeout=100)
+        self.do_RTL()
+
     def GuidedSubModeChange(self):
         """"Ensure we can move around in guided after a takeoff command."""
 
@@ -9225,6 +9269,7 @@ class AutoTestCopter(AutoTest):
              self.RichenPower,
              self.IE24,
              self.MAVLandedStateTakeoff,
+             self.Weathervane,
         ])
         return ret