autotest: add tests to ensure we get BCN, RPM and PRX/PRXR log msgs

Tools/autotest/arducopter.py

@@ -6042,12 +6042,17 @@ class AutoTestCopter(AutoTest):
             self.set_parameters({
                 "FENCE_ENABLE": 1,
                 "PRX_TYPE": 10,
+                "PRX_LOG_RAW": 1,
                 "RC10_OPTION": 40, # proximity-enable
             })
             self.reboot_sitl()
             self.progress("Enabling proximity")
             self.set_rc(10, 2000)
             self.check_avoidance_corners()
+
+            self.assert_current_onboard_log_contains_message("PRX")
+            self.assert_current_onboard_log_contains_message("PRXR")
+
         except Exception as e:
             self.print_exception_caught(e)
             ex = e
@@ -6386,6 +6391,8 @@ class AutoTestCopter(AutoTest):
             self.wait_groundspeed(0, 0.3, timeout=120)
             self.land_and_disarm()
 
+            self.assert_current_onboard_log_contains_message("BCN")
+
         except Exception as e:
             self.print_exception_caught(e)
             ex = e

Tools/autotest/common.py

@@ -11267,6 +11267,8 @@ switch value'''
             self.set_rc(3, 1050)
             self.wait_rpm1(timeout=10, min_rpm=200)
 
+        self.assert_current_onboard_log_contains_message("RPM")
+
         self.drain_mav_unparsed()
         # anything with a lambda in here needs a proper test written.
         # This, at least makes sure we're getting some of each