improve mavros SITL tests (#8652)

-created a test base class to centralize redundant methods among the different tests
-added mission waypoint list topic listener (this also helps make sure the simulation is ready)
-check number of mission waypoints in FCU against mission
-increase time for mavros topics to be ready from 30 to 60 seconds
-reduce position check loop rates
-clean up logging
-support QGC plan for mission file format, see #8619
-vehicle is an arg for mission test launch file, working toward other airframes
-Jenkins: fix vtol vehicle arg value
-get MAV_TYPE param and use FW radius for pure fixed-wing mission position check
-remove unused vehicle arg from test in multiple tests launch, clearing runtime warning