autotest: Added Copter Smart RTL repeat detection test

Tools/autotest/arducopter.py

@@ -9872,6 +9872,15 @@ def SMART_RTL_EnterLeave(self):
         self.change_mode('ALT_HOLD')
         self.change_mode('SMART_RTL')
 
+    def SMART_RTL_Repeat(self):
+        '''Test whether Smart RTL catches the repeat'''
+        self.takeoff(alt_min=10, mode='GUIDED')  
+        self.set_rc(3, 1500)
+        self.change_mode("CIRCLE")
+        self.delay_sim_time(1300)
+        self.change_mode("SMART_RTL")
+        self.wait_disarmed()
+
     def GPSForYawCompassLearn(self):
         '''Moving baseline GPS yaw - with compass learning'''
         self.context_push()
@@ -12194,6 +12203,7 @@ def tests2b(self):  # this block currently around 9.5mins here
             self.AP_Avoidance,
             self.SMART_RTL,
             self.SMART_RTL_EnterLeave,
+            self.SMART_RTL_Repeat,
             self.RTL_TO_RALLY,
             self.FlyEachFrame,
             self.GPSBlending,
@@ -12355,6 +12365,7 @@ def disabled_tests(self):
             "GPSForYawCompassLearn": "Vehicle currently crashed in spectacular fashion",
             "CompassMot": "Cuases an arithmetic exception in the EKF",
             "SMART_RTL_EnterLeave": "Causes a panic",
+            "SMART_RTL_Repeat": "Currently fails due to issue with loop detection",
         }