autotest: start and stop MAVProxy for alttype and surface tracking tests

autotest doesn't currently supply terrain tiles, so MAVProxy must be
started

Tools/autotest/arducopter.py

@@ -2725,6 +2725,11 @@ class AutoTestCopter(AutoTest):
         ex = None
         self.context_push()
 
+        # we must start mavproxy here as otherwise we can't get the
+        # terrain database tiles - this leads to random failures in
+        # CI!
+        mavproxy = self.start_mavproxy()
+
         try:
             self.set_analog_rangefinder_parameters()
             self.set_parameter("RC9_OPTION", 10) # rangefinder
@@ -2772,6 +2777,9 @@ class AutoTestCopter(AutoTest):
             self.print_exception_caught(e)
             self.disarm_vehicle(force=True)
             ex = e
+
+        self.stop_mavproxy(mavproxy)
+
         self.context_pop()
         self.reboot_sitl()
         if ex is not None:
@@ -4805,6 +4813,11 @@ class AutoTestCopter(AutoTest):
 
         '''
 
+        # we must start mavproxy here as otherwise we can't get the
+        # terrain database tiles - this leads to random failures in
+        # CI!
+        mavproxy = self.start_mavproxy()
+
         self.set_parameter("FS_GCS_ENABLE", 0)
         self.change_mode('GUIDED')
         self.wait_ready_to_arm()
@@ -4864,6 +4877,8 @@ class AutoTestCopter(AutoTest):
 
         self.wait_disarmed()
 
+        self.stop_mavproxy(mavproxy)
+
     def fly_precision_companion(self):
         """Use Companion PrecLand backend precision messages to loiter."""
 

Tools/autotest/common.py

@@ -7786,6 +7786,7 @@ Also, ignores heartbeats not from our target system'''
     def test_set_position_global_int(self, timeout=100):
         """Test set position message in guided mode."""
         # Disable heading and yaw test on rover type
+
         if self.is_rover():
             test_alt = False
             test_heading = False
@@ -7795,16 +7796,16 @@ Also, ignores heartbeats not from our target system'''
             test_heading = True
             test_yaw_rate = True
 
-        self.set_parameter("FS_GCS_ENABLE", 0)
-        self.change_mode("GUIDED")
-        self.wait_ready_to_arm()
-        self.arm_vehicle()
-
         # we must start mavproxy here as otherwise we can't get the
         # terrain database tiles - this leads to random failures in
         # CI!
         mavproxy = self.start_mavproxy()
 
+        self.set_parameter("FS_GCS_ENABLE", 0)
+        self.change_mode("GUIDED")
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+
         if self.is_copter() or self.is_heli():
             self.user_takeoff(alt_min=50)
 
@@ -8026,16 +8027,16 @@ Also, ignores heartbeats not from our target system'''
             test_heading = True
             test_yaw_rate = True
 
-        self.set_parameter("FS_GCS_ENABLE", 0)
-        self.change_mode("GUIDED")
-        self.wait_ready_to_arm()
-        self.arm_vehicle()
-
         # we must start mavproxy here as otherwise we can't get the
         # terrain database tiles - this leads to random failures in
         # CI!
         mavproxy = self.start_mavproxy()
 
+        self.set_parameter("FS_GCS_ENABLE", 0)
+        self.change_mode("GUIDED")
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+
         if self.is_copter() or self.is_heli():
             self.user_takeoff(alt_min=50)