diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index d4155774bb..7ea92c7b7c 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -1954,6 +1954,77 @@ class AutoTestCopter(AutoTest):
         if not took_off:
             raise NotAchievedException("Did not take off")
 
+    def fly_zigzag_mode(self):
+        '''test zigzag mode'''
+
+        # set channel 8 for zigzag savewp and recentre it
+        self.set_parameter("RC8_OPTION", 61)
+
+        self.takeoff(alt_min=5, mode='LOITER')
+
+        ZIGZAG = 24
+        j=0
+        while j<4:  # conduct test for all 4 directions
+            self.set_rc(8, 1500)
+            self.set_rc(4, 1420)
+            self.wait_heading(352-j*90)  # align heading with the run-way
+            self.set_rc(4, 1500)
+            self.change_mode(ZIGZAG)
+            self.set_rc(8, 1100)  # record point A
+            self.set_rc(1, 1700)  # fly side-way for 20m
+            self.wait_distance(20)
+            self.set_rc(1, 1500)
+            self.wait_groundspeed(0, 0.20)   # wait until the copter slows down
+            self.set_rc(8, 1500)    # pilot always have to cross mid position when changing for low to high position
+            self.set_rc(8, 1900)    # record point B
+
+            i=1
+            while i<2:                 # run zigzag A->B and B->A for 5 times
+                self.set_rc(2, 1300)    # fly forward for 10 meter
+                self.wait_distance(10)
+                self.set_rc(2, 1500)    # re-centre pitch rc control
+                self.wait_groundspeed(0, 0.2)   #wait until the copter slows down
+                self.set_rc(8, 1500)    # switch to mid position
+                self.set_rc(8, 1100)    # auto execute vector BA
+                self.wait_distance(17)  # wait for it to finish
+                self.wait_groundspeed(0, 0.2)   #wait until the copter slows down
+
+                self.set_rc(2, 1300)    # fly forward for 10 meter
+                self.wait_distance(10)
+                self.set_rc(2, 1500)    # re-centre pitch rc control
+                self.wait_groundspeed(0, 0.2)   #wait until the copter slows down
+                self.set_rc(8, 1500)    # switch to mid position
+                self.set_rc(8, 1900)    # auto execute vector AB
+                self.wait_distance(17)  # wait for it to finish
+                self.wait_groundspeed(0, 0.2)   #wait until the copter slows down
+                i=i+1
+            # test the case when pilot switch to manual control during the auto flight
+            self.set_rc(2, 1300)    # fly forward for 10 meter
+            self.wait_distance(10)
+            self.set_rc(2, 1500)    # re-centre pitch rc control
+            self.wait_groundspeed(0, 0.2)   #wait until the copter slows down
+            self.set_rc(8, 1500)    # switch to mid position
+            self.set_rc(8, 1100)    # switch to low position, auto execute vector BA
+            self.wait_distance(8)   # purposely switch to manual halfway
+            self.set_rc(8, 1500)
+            self.wait_groundspeed(0, 0.2)   # copter should slow down here
+            self.set_rc(2, 1300)    # manual control to fly forward
+            self.wait_distance(8)
+            self.set_rc(2, 1500)    # re-centre pitch rc control
+            self.wait_groundspeed(0, 0.2)   # wait until the copter slows down
+            self.set_rc(8, 1100)    # copter should continue mission here
+            self.wait_distance(8)   # wait for it to finish rest of BA
+            self.wait_groundspeed(0, 0.2)   #wait until the copter slows down
+            self.set_rc(8, 1500)    # switch to mid position
+            self.set_rc(8, 1900)    # switch to execute AB again
+            self.wait_distance(17)  # wait for it to finish
+            self.wait_groundspeed(0, 0.2)   # wait until the copter slows down
+            self.change_mode('LOITER')
+            j=j+1
+
+        self.do_RTL()
+
+
     def test_setting_modes_via_modeswitch(self):
         self.context_push()
         ex = None
@@ -3159,6 +3230,9 @@ class AutoTestCopter(AutoTest):
              "Test mavlink MANUAL_CONTROL",
              self.test_manual_control),
 
+            # Zigzag mode test
+            ("ZigZag", "Fly ZigZag Mode", self.fly_zigzag_mode),
+
             ("PosHoldTakeOff",
              "Fly POSHOLD takeoff",
              self.fly_poshold_takeoff),