autotest: adjust for terrain arming requirements

Lots of tests really did need terrain stuff but weren't able to get it

Tools/autotest/arducopter.py

@@ -487,7 +487,9 @@ class AutoTestCopter(AutoTest):
 
             self.change_mode('LOITER')
 
-            self.wait_ready_to_arm()
+            mavproxy = self.start_mavproxy()
+            self.wait_ready_to_arm(timeout=120*60)  # terrain takes time
+            self.stop_mavproxy(mavproxy)
 
             self.arm_vehicle()
 

Tools/autotest/quadplane.py

@@ -282,7 +282,7 @@ class AutoTestQuadPlane(AutoTest):
             self.disarm_vehicle()
             self.wait_ready_to_arm()
 
-    def fly_mission(self, filename, fence=None, height_accuracy=-1):
+    def fly_mission(self, filename, fence=None, height_accuracy=-1, include_terrain_timeout=False):
         """Fly a mission from a file."""
         self.progress("Flying mission %s" % filename)
         self.load_mission(filename)
@@ -290,7 +290,12 @@ class AutoTestQuadPlane(AutoTest):
             self.load_fence(fence)
         if self.mavproxy is not None:
             self.mavproxy.send('wp list\n')
-        self.wait_ready_to_arm()
+        # terrain can take a *long* time to load:
+        timeout = 120
+        if include_terrain_timeout:
+            timeout *= 1000  # yes, *that* long
+        mavproxy = self.start_mavproxy()
+        self.wait_ready_to_arm(timeout=timeout)
         self.arm_vehicle()
         self.change_mode('AUTO')
         self.wait_waypoint(1, 19, max_dist=60, timeout=1200)
@@ -298,12 +303,13 @@ class AutoTestQuadPlane(AutoTest):
         self.wait_disarmed(timeout=120) # give quadplane a long time to land
         # wait for blood sample here
         self.set_current_waypoint(20)
-        self.wait_ready_to_arm()
+        self.wait_ready_to_arm(timeout=timeout)
         self.arm_vehicle()
         self.wait_waypoint(20, 34, max_dist=60, timeout=1200)
 
         self.wait_disarmed(timeout=120) # give quadplane a long time to land
         self.progress("Mission OK")
+        self.stop_mavproxy(mavproxy)
 
     def enum_state_name(self, enum_name, state, pretrim=None):
         e = mavutil.mavlink.enums[enum_name]
@@ -887,7 +893,12 @@ class AutoTestQuadPlane(AutoTest):
              self.EXTENDED_SYS_STATE),
 
             ("Mission", "Dalby Mission",
-             lambda: self.fly_mission("Dalby-OBC2016.txt", "Dalby-OBC2016-fence.txt")),
+             lambda: self.fly_mission(
+                 "Dalby-OBC2016.txt",
+                 "Dalby-OBC2016-fence.txt",
+                 include_terrain_timeout=True
+             )
+             ),
 
             ("Weathervane",
              "Test Weathervane Functionality",