Tools: autotest: quadplane: add weathervane test

Tools/autotest/quadplane.py

@@ -715,6 +715,27 @@ class AutoTestQuadPlane(AutoTest):
         self.set_rc(4, 1500)
         self.do_RTL()
 
+    def weathervane_test(self):
+        # We test nose into wind code paths and yaw direction in copter autotest,
+        # so we shall test the side into wind yaw direction and plane code paths here.
+        self.set_parameters({"SIM_WIND_SPD": 10,
+                             "SIM_WIND_DIR": 240,
+                             "Q_WVANE_ENABLE": 3, # WVANE_ENABLE = 3 gives direction of side into wind
+                             "Q_WVANE_GAIN": 3,
+                             "STICK_MIXING": 0})
+
+        self.takeoff(10, mode="QLOITER")
+
+        # Turn aircraft to heading 90 deg
+        self.set_rc(4, 1700)
+        self.wait_heading(90)
+        self.set_rc(4, 1500)
+
+        # Now wait for weathervaning to activate and turn side-on to wind at 240 deg therefore heading 150 deg
+        self.wait_heading(150, accuracy=5, timeout=180)
+
+        self.do_RTL()
+
     def CPUFailsafe(self):
         '''In lockup Plane should copy RC inputs to RC outputs'''
         self.plane_CPUFailsafe()
@@ -822,6 +843,10 @@ class AutoTestQuadPlane(AutoTest):
             ("Mission", "Dalby Mission",
              lambda: self.fly_mission("Dalby-OBC2016.txt", "Dalby-OBC2016-fence.txt")),
 
+            ("Weathervane",
+             "Test Weathervane Functionality",
+             self.weathervane_test),
+
             ("QAssist",
              "QuadPlane Assist tests",
              self.test_qassist),