autotest: cope with existing auto mode via mode change

Tools/autotest/arducopter.py

@@ -292,7 +292,7 @@ def fly_mission(mavproxy, mav, height_accuracy=-1, target_altitude=None):
     mavproxy.send('switch 4\n') # auto mode
     wait_mode(mav, 'AUTO')
     #wait_altitude(mav, 30, 40)
-    ret = wait_waypoint(mav, 0, num_wp, timeout=500)
+    ret = wait_waypoint(mav, 0, num_wp, timeout=500, mode='AUTO')
     print("test: MISSION COMPLETE: passed=%s" % ret)
     # wait here until ready
     mavproxy.send('switch 5\n')

Tools/autotest/common.py

@@ -160,7 +160,7 @@ def wait_location(mav, loc, accuracy=5, timeout=30, target_altitude=None, height
     print("Failed to attain location")
     return False
 
-def wait_waypoint(mav, wpnum_start, wpnum_end, allow_skip=True, max_dist=2, timeout=400):
+def wait_waypoint(mav, wpnum_start, wpnum_end, allow_skip=True, max_dist=2, timeout=400, mode=None):
     '''wait for waypoint ranges'''
     tstart = time.time()
     # this message arrives after we set the current WP
@@ -178,6 +178,11 @@ def wait_waypoint(mav, wpnum_start, wpnum_end, allow_skip=True, max_dist=2, time
         wp_dist = m.wp_dist
         m = mav.recv_match(type='VFR_HUD', blocking=True)
 
+        # if we exited the required mode, finish
+        if mode is not None and mav.flightmode != mode:
+            print('Exited %s mode' % mode)
+            return True
+
         print("test: WP %u (wp_dist=%u Alt=%d), current_wp: %u, wpnum_end: %u" % (seq, wp_dist, m.alt, current_wp, wpnum_end))
         if seq == current_wp+1 or (seq > current_wp+1 and allow_skip):
             print("test: Starting new waypoint %u" % seq)