autotest: add copter autotest for mission clearing after reboot

Author: peterbarker

Tools/autotest/arducopter.py

@@ -12815,6 +12815,28 @@ def RTLStoppingDistanceSpeed(self):
         self.change_mode('LOITER')
         self.do_RTL()
 
+    def MISSION_OPTION_CLEAR_MISSION_AT_BOOT(self):
+        '''check functionality of mission-clear-at-boot option'''
+        self.upload_simple_relhome_mission([
+            (mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 20),
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 20, 0, 20),
+            (mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0),
+        ])
+        if len(self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_MISSION)) != 4:
+            raise NotAchievedException("No mission after upload?!")
+
+        self.reboot_sitl()
+        if len(self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_MISSION)) != 4:
+            raise NotAchievedException("No mission after reboot?!")
+
+        self.set_parameters({
+            "MIS_OPTIONS": 1,
+        })
+        self.reboot_sitl()
+
+        if len(self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_MISSION)) != 0:
+            raise NotAchievedException("Mission did not clear after reboot with option set")
+
     def do_land(self):
         self.change_mode('LAND')
         self.wait_disarmed()
@@ -12900,6 +12922,7 @@ def tests2b(self):  # this block currently around 9.5mins here
             self.ArmSwitchAfterReboot,
             self.RPLidarA1,
             self.RPLidarA2,
+            self.MISSION_OPTION_CLEAR_MISSION_AT_BOOT,
             self.SafetySwitch,
             self.BrakeZ,
             self.MAV_CMD_DO_FLIGHTTERMINATION,