autotest: add battery reproducing second bug in UAVCAN battery backend

Tools/autotest/arducopter.py

@@ -11527,7 +11527,7 @@ def testcan(self):
         ])
         return ret
 
-    def BattCAN(self):
+    def BattCANSplitAuxInfo(self):
         '''test CAN battery periphs'''
         self.start_subtest("Swap UAVCAN backend at runtime")
         self.set_parameters({
@@ -11557,9 +11557,24 @@ def BattCAN(self):
         })
         self.delay_sim_time(100000)
 
+    def BattCANReplaceRuntime(self):
+        '''test CAN battery periphs'''
+        self.start_subtest("Replace UAVCAN backend at runtime")
+        self.set_parameters({
+            "CAN_P1_DRIVER": 1,
+            "BATT_MONITOR": 11,  # 4 is ananlog volt+curr
+        })
+        self.reboot_sitl()
+        self.delay_sim_time(5)
+        self.set_parameters({
+            "BATT_MONITOR": 8,  # 4 is UAVCAN batterinfo
+        })
+        self.delay_sim_time(5)
+
     def testcanbatt(self):
         ret = ([
-            self.BattCAN,
+            self.BattCANReplaceRuntime,
+            #            self.BattCANSplitAuxInfo,
         ])
         return ret