diff --git a/Tools/autotest/autotest.py b/Tools/autotest/autotest.py
index 7b9540308c..7356556603 100755
--- a/Tools/autotest/autotest.py
+++ b/Tools/autotest/autotest.py
@@ -27,6 +27,7 @@ import ardusub
 import antennatracker
 import quadplane
 import balancebot
+import sailboat
 
 import examples
 from pysim import util
@@ -298,6 +299,7 @@ __bin_names = {
     "QuadPlane": "arduplane",
     "Sub": "ardusub",
     "BalanceBot": "ardurover",
+    "Sailboat": "ardurover",
     "SITLPeriphGPS": "sitl_periph_gp.AP_Periph",
     "CAN": "arducopter",
 }
@@ -364,6 +366,7 @@ tester_class_map = {
     "test.QuadPlane": quadplane.AutoTestQuadPlane,
     "test.Rover": rover.AutoTestRover,
     "test.BalanceBot": balancebot.AutoTestBalanceBot,
+    "test.Sailboat": sailboat.AutoTestSailboat,
     "test.Helicopter": arducopter.AutoTestHeli,
     "test.Sub": ardusub.AutoTestSub,
     "test.Tracker": antennatracker.AutoTestTracker,
@@ -733,7 +736,7 @@ def run_tests(steps):
     return passed
 
 
-vehicle_list = ['Sub', 'Copter', 'Plane', 'Tracker', 'Rover', 'QuadPlane', 'BalanceBot', 'Helicopter']
+vehicle_list = ['Sub', 'Copter', 'Plane', 'Tracker', 'Rover', 'QuadPlane', 'BalanceBot', 'Helicopter', 'Sailboat']
 
 
 def list_subtests():
@@ -958,6 +961,7 @@ if __name__ == "__main__":
         'defaults.Rover',
         'test.Rover',
         'test.BalanceBot',
+        'test.Sailboat',
 
         'build.Copter',
         'defaults.Copter',
diff --git a/Tools/autotest/sailboat.py b/Tools/autotest/sailboat.py
new file mode 100644
index 0000000000..94672a1cc5
--- /dev/null
+++ b/Tools/autotest/sailboat.py
@@ -0,0 +1,51 @@
+#!/usr/bin/env python
+
+'''
+Drive a Sailboat in SITL
+
+AP_FLAKE8_CLEAN
+
+'''
+
+from __future__ import print_function
+
+import os
+
+from rover import AutoTestRover
+
+# get location of scripts
+testdir = os.path.dirname(os.path.realpath(__file__))
+
+
+def log_name(self):
+    return "Sailboat"
+
+
+class AutoTestSailboat(AutoTestRover):
+
+    def vehicleinfo_key(self):
+        return "Rover"
+
+    def init(self):
+        if self.frame is None:
+            self.frame = 'sailboat'
+        super(AutoTestSailboat, self).init()
+
+    def tests(self):
+        '''return list of all tests'''
+        ret = ([])
+
+        ret.extend([
+            ("DriveRTL",
+             "Drive an RTL Mission",
+             self.drive_rtl_mission),
+
+            ("DriveMission",
+             "Drive Mission %s" % "balancebot1.txt",
+             lambda: self.drive_mission("balancebot1.txt", strict=False)),
+
+        ])
+        return ret
+
+    def default_mode(self):
+        return 'MANUAL'