Tools: autotest: add simple Rally test

Tools/autotest/apmrover2.py

@@ -906,6 +906,23 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
         if ex is not None:
             raise ex
 
+    def test_rally_points(self):
+        self.load_rally("rover-test-rally.txt")
+
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+        self.reach_heading_manual(10)
+        self.reach_distance_manual(50)
+
+        self.change_mode("RTL")
+        # location copied in from rover-test-rally.txt:
+        loc = mavutil.location(40.071553,
+	                           -105.229401,
+                               0,
+                               0)
+        self.wait_location(loc)
+        self.disarm_vehicle()
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestRover, self).tests()
@@ -992,6 +1009,10 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
              "Test enforcement of SYSID_MYGCS",
              self.test_sysid_enforce),
 
+            ("Rally",
+             "Test Rally Points",
+             self.test_rally_points),
+
             ("DownLoadLogs", "Download logs", lambda:
              self.log_download(
                  self.buildlogs_path("APMrover2-log.bin"),

Tools/autotest/common.py

@@ -568,6 +568,13 @@ class AutoTest(ABC):
                 raise ValueError("count %u not handled" % count)
         self.progress("Files same")
 
+    def load_rally(self, filename):
+        """Load rally points from a file to flight controller."""
+        self.progress("Loading rally points (%s)" % filename)
+        path = os.path.join(self.mission_directory(), filename)
+        self.mavproxy.send('rally load %s\n' % path)
+        self.mavproxy.expect("Loaded")
+
     def load_mission(self, filename):
         """Load a mission from a file to flight controller."""
         self.progress("Loading mission (%s)" % filename)

Tools/autotest/rover-test-rally.txt

@@ -0,0 +1,2 @@
+RALLY 40.071553	-105.229401	0.000000	40.000000	0.000000	0
+RALLY 40.072265	-105.231136	0.000000	40.000000	0.000000	0