diff --git a/Tools/autotest/ArduCopter_Tests/PAUSE_CONTINUE/copter_mission.txt b/Tools/autotest/ArduCopter_Tests/PAUSE_CONTINUE/copter_mission.txt
new file mode 100644
index 0000000000..4b3b791305
--- /dev/null
+++ b/Tools/autotest/ArduCopter_Tests/PAUSE_CONTINUE/copter_mission.txt
@@ -0,0 +1,11 @@
+QGC WPL 110
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.363262	149.165237	584.090027	1
+1	0	3	22	0.000000	0.000000	0.000000	0.000000	-35.362881	149.165222	20.000000	1
+2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364652	149.163501	0.000000	1
+3	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365361	149.163501	0.000000	1
+4	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365361	149.163995	40.000000	1
+5	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365361	149.164563	20.000000	1
+6	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364652	149.164531	20.000000	1
+7	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364652	149.163995	20.000000	1
+8	0	3	16	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+9	0	0	20	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index abd1787784..61d4b03434 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -7396,6 +7396,41 @@ class AutoTestCopter(AutoTest):
         if ex is not None:
             raise ex
 
+    def PAUSE_CONTINUE(self):
+        self.load_mission("copter_mission.txt", strict=False)
+
+        self.set_parameter("AUTO_OPTIONS", 3)
+        self.change_mode('AUTO')
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+
+        self.wait_waypoint(4, 4)
+        self.run_cmd(mavutil.mavlink.MAV_CMD_DO_PAUSE_CONTINUE,
+                     0, # param1
+                     0, # param2
+                     0, # param3
+                     0, # param4
+                     0, # param5
+                     0, # param6
+                     0 # param7
+                     )
+
+        self.wait_groundspeed(0, 1, minimum_duration=5)
+
+        self.run_cmd(mavutil.mavlink.MAV_CMD_DO_PAUSE_CONTINUE,
+                     1, # param1
+                     0, # param2
+                     0, # param3
+                     0, # param4
+                     0, # param5
+                     0, # param6
+                     0 # param7
+                     )
+
+        self.wait_groundspeed(5, 100)
+
+        self.wait_disarmed()
+
     # a wrapper around all the 1A,1B,1C..etc tests for travis
     def tests1(self):
         ret = ([])
@@ -7891,6 +7926,10 @@ class AutoTestCopter(AutoTest):
              "Test Different Altitude Types",
              self.test_altitude_types),
 
+            ("PAUSE_CONTINUE",
+             "Test MAV_CMD_PAUSE_CONTINUE",
+             self.PAUSE_CONTINUE),
+
             ("RichenPower",
              "Test RichenPower generator",
              self.test_richenpower),
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index bcb3349c08..7f204afa2f 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -3415,6 +3415,7 @@ class AutoTest(ABC):
             mavutil.mavlink.MAV_CMD_DO_JUMP,
             mavutil.mavlink.MAV_CMD_DO_DIGICAM_CONTROL,
             mavutil.mavlink.MAV_CMD_DO_SET_SERVO,
+            mavutil.mavlink.MAV_CMD_DO_PAUSE_CONTINUE,
         ]
 
     def assert_mission_files_same(self, file1, file2, match_comments=False):