autotest: add SmartRTL test for rapid switch between smartrtl and alt…

…hold

Tools/autotest/arducopter.py

@@ -9022,7 +9022,7 @@ def PositionWhenGPSIsZero(self):
         self.wait_disarmed()
         self.reboot_sitl()
 
-    def SMART_RTL(self):
+    def SMART_pathfollow_RTL(self):
         '''Check SMART_RTL'''
         self.progress("arm the vehicle and takeoff in Guided")
         self.takeoff(20, mode='GUIDED')
@@ -9319,6 +9319,22 @@ def GPSForYaw(self):
             self.print_exception_caught(e)
             ex = e
 
+    def test_SMART_RTL_nopoints(self):
+        self.context_push()
+        ex = None
+        try:
+            self.change_mode('AUTO')
+            self.wait_ready_to_arm()
+            self.change_mode('ALT_HOLD')
+            self.change_mode('SMART_RTL')
+            self.change_mode('ALT_HOLD')
+            self.change_mode('SMART_RTL')
+
+        except Exception as e:
+            self.print_exception_caught(e)
+            ex = e
+            self.disarm_vehicle(force=True)
+
         self.context_pop()
 
         self.reboot_sitl()
@@ -9367,6 +9383,11 @@ def AP_Avoidance(self):
         self.disarm_vehicle()
         self.context_pop()
 
+    def SMART_RTL(self):
+        '''Check SMART_RTL'''
+        self.test_SMART_RTL_nopoints()
+        self.test_SMART_RTL_pathfollow()
+
     def PAUSE_CONTINUE(self):
         '''Test MAV_CMD_DO_PAUSE_CONTINUE in AUTO mode'''
         self.load_mission(filename="copter_mission.txt", strict=False)