diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index adc8f651bb..7d3ab10495 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -6640,7 +6640,18 @@ class AutoTestCopter(AutoTest):
                 model=model,
                 wipe=True,
             )
+
+            # add a listener that verifies yaw looks good:
+            def verify_yaw(mav, m):
+                if m.get_type() != 'ATTITUDE':
+                    return
+                yawspeed_thresh_rads = math.radians(10)
+                if m.yawspeed > yawspeed_thresh_rads:
+                    raise NotAchievedException("Excessive yaw on takeoff: %f deg/s > %f deg/s (frame=%s)" %
+                                               (math.degrees(m.yawspeed), math.degrees(yawspeed_thresh_rads), frame))
+            self.install_message_hook(verify_yaw)
             self.takeoff(10)
+            self.remove_message_hook(verify_yaw)
             self.do_RTL()
 
     def create_simple_relhome_mission(self, items_in, target_system=1, target_component=1):