autotest: improved GliderPullup test

use LOITER_TO_ALT and a landing, allowing for a much better test of
the full glider pullup mission

Tools/autotest/ArduPlane_Tests/GliderPullup/glider-pullup-mission.txt

@@ -1,3 +1,6 @@
 QGC WPL 110
 0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.363262	149.165237	584.000000	1
-1	0	0	83	2000.000000	10.000000	30.000000	0.000000	0.000000	0.000000	0.000000	1
+1	0	0	83	5700.000000	10.000000	30.000000	0.000000	0.000000	0.000000	0.000000	1
+2	0	3	31	0.000000	0.000000	0.000000	0.000000	-35.413030	149.172036	1500.000000	1
+3	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.391115	149.169040	250.000000	1
+4	0	3	21	0.000000	0.000000	0.000000	1.000000	-35.362803	149.165169	0.000000	1

Tools/autotest/arduplane.py

@@ -6198,14 +6198,14 @@ def GliderPullup(self):
         self.progress("Start balloon lift")
         self.set_servo(6, 2000)
 
-        self.wait_text("Reached altitude", check_context=True, timeout=300)
+        self.wait_text("Reached altitude", check_context=True, timeout=1000)
         self.wait_text("Start pullup airspeed", check_context=True)
         self.wait_text("Pullup airspeed", check_context=True)
         self.wait_text("Pullup pitch", check_context=True)
         self.wait_text("Pullup level", check_context=True)
-        self.wait_text("Mission complete, changing mode to RTL", check_context=True)
-
-        self.fly_home_land_and_disarm(timeout=400)
+        self.wait_text("Loiter to alt complete", check_context=True, timeout=1000)
+        self.wait_text("Flare", check_context=True, timeout=400)
+        self.wait_text("Auto disarmed", check_context=True, timeout=200)
 
     def BadRollChannelDefined(self):
         '''ensure we don't die with a  bad Roll channel defined'''

Tools/autotest/default_params/glider.parm

@@ -36,7 +36,7 @@ ARSPD_USE        1
 HOME_RESET_ALT -1
 
 TECS_INTEG_GAIN 0.25
-TECS_SPDWEIGHT 2
+TECS_SPDWEIGHT 1.7 # allow some altitude control
 TECS_PTCH_DAMP 0.6
 TECS_SINK_MAX 8.5
 TECS_PITCH_MAX 10