autotest: WPArcs: add arc segment over 360 degrees

Author: lthall

Tools/autotest/ArduCopter_Tests/WPArcs/ArcWPMissionTest.txt

@@ -1,20 +1,23 @@
 QGC WPL 110
 0	1	0	16	0	0	0	0	-35.3632621	149.1652375	584.080000	1
 1	0	3	22	0.00000000	0.000000000	0.00000000	0.00000000	0.00000000	0.00000000	10.000000	1
-2	0	3	36	0.00000000	0.000000000	0.00000000	0.00000000	-35.36340000	149.16522000	10.000000	1
-3	0	3	36	-90.000000	0.000000000	0.00000000	0.00000000	-35.36320000	149.16522000	10.000000	1
-4	0	3	36	90.0000000	0.000000000	0.00000000	0.00000000	-35.36300000	149.16522000	10.000000	1
-5	0	3	36	-180.00000	0.000000000	0.00000000	0.00000000	-35.36280000	149.16522000	10.000000	1
-6	0	3	36	180.000000	0.000000000	0.00000000	0.00000000	-35.36260000	149.16522000	10.000000	1
-7	0	3	36	-270.00000	0.000000000	0.00000000	0.00000000	-35.36240000	149.16522000	10.000000	1
-8	0	3	36	270.000000	0.000000000	0.00000000	0.00000000	-35.36220000	149.16522000	10.000000	1
-9	0	3	36	0.00000000	0.000000000	0.00000000	0.00000000	-35.36200000	149.16522000	10.000000	1
-10	0	3	36	-180.000000	0.000000000	0.00000000	0.00000000	-35.36200000	149.16500000	10.000000	1
-11	0	3	16	0.00000000	0.000000000	0.00000000	0.00000000	-35.36240000	149.16500000	10.000000	1
-12	0	3	36	90.0000000	0.000000000	0.00000000	0.00000000	-35.36250000	149.16490000	10.000000	1
-13	0	3	16	0.00000000	0.000000000	0.00000000	0.00000000	-35.36250000	149.16300000	10.000000	1
-14	0	3	36	-180.00000	0.000000000	0.00000000	0.00000000	-35.36270000	149.16300000	10.000000	1
-15	0	3	16	0.00000000	0.000000000	0.00000000	0.00000000	-35.36270000	149.16490000	10.000000	1
-16	0	3	36	180.000000	0.000000000	0.00000000	0.00000000	-35.36340000	149.16490000	10.000000	1
-17	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36340000	149.16300000	10.000000	1
-18	0	0	20	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.000000	1
+2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.362123	149.165239	20.000000	1
+3	0	3	36	-400.000000	0.000000	0.000000	0.000000	-35.362115	149.164481	40.000000	1
+4	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.363270	149.164617	40.000000	1
+5	0	3	36	0.00000000	0.000000000	0.00000000	0.00000000	-35.36340000	149.16522000	10.000000	1
+6	0	3	36	-90.000000	0.000000000	0.00000000	0.00000000	-35.36320000	149.16522000	10.000000	1
+7	0	3	36	90.0000000	0.000000000	0.00000000	0.00000000	-35.36300000	149.16522000	10.000000	1
+8	0	3	36	-180.00000	0.000000000	0.00000000	0.00000000	-35.36280000	149.16522000	10.000000	1
+9	0	3	36	180.000000	0.000000000	0.00000000	0.00000000	-35.36260000	149.16522000	10.000000	1
+10	0	3	36	-270.00000	0.000000000	0.00000000	0.00000000	-35.36240000	149.16522000	10.000000	1
+11	0	3	36	270.000000	0.000000000	0.00000000	0.00000000	-35.36220000	149.16522000	10.000000	1
+12	0	3	36	0.00000000	0.000000000	0.00000000	0.00000000	-35.36200000	149.16522000	10.000000	1
+13	0	3	36	-180.000000	0.000000000	0.00000000	0.00000000	-35.36200000	149.16500000	10.000000	1
+14	0	3	16	0.00000000	0.000000000	0.00000000	0.00000000	-35.36240000	149.16500000	10.000000	1
+15	0	3	36	90.0000000	0.000000000	0.00000000	0.00000000	-35.36250000	149.16490000	10.000000	1
+16	0	3	16	0.00000000	0.000000000	0.00000000	0.00000000	-35.36250000	149.16300000	10.000000	1
+17	0	3	36	-180.00000	0.000000000	0.00000000	0.00000000	-35.36270000	149.16300000	10.000000	1
+18	0	3	16	0.00000000	0.000000000	0.00000000	0.00000000	-35.36270000	149.16490000	10.000000	1
+19	0	3	36	180.000000	0.000000000	0.00000000	0.00000000	-35.36340000	149.16490000	10.000000	1
+20	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36340000	149.16300000	10.000000	1
+21	0	0	20	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.000000	1

Tools/autotest/arducopter.py

@@ -442,16 +442,16 @@ def WPArcs(self):
                 )
                 last_print_time = now
 
-            if current_wp > 16:
+            if current_wp > 19:
                 raise NotAchievedException(
-                    "mission progressed beyond WP 16 before current longitude > "
+                    "mission progressed beyond WP 19 before current longitude > "
                     "desired long (%f)" % desired_long
                 )
 
             if (current_long > desired_long):
                 self.progress(
                     "Success: Copter traveled far enough east whilst traveling to "
-                    "WP 16 that we are likely flying a WP Arc"
+                    "WP 19 that we are likely flying a WP Arc"
                 )
                 break