Tools: move guided_achieve_heading to common

Tools/autotest/arducopter.py

@@ -1341,25 +1341,6 @@ class AutoTestCopter(AutoTest):
         if ex is not None:
             raise ex
 
-    def guided_achieve_heading(self, heading):
-        tstart = self.get_sim_time()
-        self.run_cmd(mavutil.mavlink.MAV_CMD_CONDITION_YAW,
-                     heading, # target angle
-                     10, # degrees/second
-                     1, # -1 is counter-clockwise, 1 clockwise
-                     0, # 1 for relative, 0 for absolute
-                     0, # p5
-                     0, # p6
-                     0, # p7
-        )
-        while True:
-            if self.get_sim_time() - tstart > 200:
-                raise NotAchievedException()
-            m = self.mav.recv_match(type='VFR_HUD', blocking=True)
-            self.progress("heading=%f want=%f" % (m.heading, heading))
-            if m.heading == heading:
-                return
-
     def fly_guided_change_submode(self):
         '''Ensure we can move around in guided after a takeoff command'''
 

Tools/autotest/common.py

@@ -567,6 +567,25 @@ class AutoTest(ABC):
             self.mav.recv_match(condition='RC_CHANNELS.chan3_raw==1500',
                                 blocking=True)
 
+    def guided_achieve_heading(self, heading):
+        tstart = self.get_sim_time()
+        self.run_cmd(mavutil.mavlink.MAV_CMD_CONDITION_YAW,
+                     heading,  # target angle
+                     10,  # degrees/second
+                     1,  # -1 is counter-clockwise, 1 clockwise
+                     0,  # 1 for relative, 0 for absolute
+                     0,  # p5
+                     0,  # p6
+                     0,  # p7
+                     )
+        while True:
+            if self.get_sim_time() - tstart > 200:
+                raise NotAchievedException()
+            m = self.mav.recv_match(type='VFR_HUD', blocking=True)
+            self.progress("heading=%f want=%f" % (m.heading, heading))
+            if m.heading == heading:
+                return
+
     #################################################
     # WAIT UTILITIES
     #################################################