autotest: add upload_rally_points_from_locations

[peterbarker]

Tested with this:

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index fc0659c8dfc..fa54b869686 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -10412,6 +10412,7 @@ class AutoTestCopter(AutoTest):
             self.BrakeZ,
             self.MAV_CMD_DO_FLIGHTTERMINATION,
             self.MAV_CMD_DO_LAND_START,
+            self.test_upload_rally_points_from_locations,
         ])
         return ret
 
@@ -10421,6 +10422,21 @@ class AutoTestCopter(AutoTest):
         ])
         return ret
 
+    def test_upload_rally_points_from_locations(self):
+        '''test uploading Rally points'''
+        self.wait_ready_to_arm()
+        loc = self.mav.location()
+        self.location_offset_ne(loc, 50, 0)
+        loc2 = self.mav.location()
+        self.location_offset_ne(loc2, 0, 50)
+        self.upload_rally_points_from_locations([loc, loc2])
+        self.takeoff(10, mode='LOITER')
+        self.set_rc(2, 1300)
+        self.delay_sim_time(10);
+        self.set_rc(2, 1500)
+        self.change_mode('RTL')
+        self.delay_sim_time(6000)
+
     def tests(self):
         ret = []
         ret.extend(self.tests1a())