diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index 08ef17839c..f0105bfc1c 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -7140,6 +7140,50 @@ switch value'''
                                        (new_mask, m3.state))
         self.progress("correct BUTTON_CHANGE event received")
 
+        if self.is_tracker():
+            # tracker starts armed, which is annoying
+            self.progress("Skipping arm/disarm tests for tracker")
+            return
+
+        self.wait_ready_to_arm()
+        self.set_parameter("BTN_FUNC%u" % btn, 41)  # ARM/DISARM
+        self.set_parameter("SIM_PIN_MASK", mask)
+        self.wait_armed()
+        self.set_parameter("SIM_PIN_MASK", 0)
+        self.wait_disarmed()
+
+        if self.is_rover():
+            self.context_push()
+            # arming should be inhibited while e-STOP is in use:
+            # set the function:
+            self.set_parameter("BTN_FUNC%u" % btn, 31)
+            # invert the sense of the pin, so eStop is asserted when pin is low:
+            self.set_parameter("BTN_OPTIONS%u" % btn, 1<<1)
+            self.reboot_sitl()
+            # assert the pin:
+            self.set_parameter("SIM_PIN_MASK", mask)
+            self.wait_ready_to_arm()
+            self.arm_vehicle()
+            self.disarm_vehicle()
+            # de-assert the pin:
+            self.set_parameter("SIM_PIN_MASK", 0)
+            self.delay_sim_time(1)  # 5Hz update rate on Button library
+            self.context_collect("STATUSTEXT")
+            # try to arm the vehicle:
+            self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
+                         1,  # ARM
+                         0,
+                         0,
+                         0,
+                         0,
+                         0,
+                         0,
+                         want_result=mavutil.mavlink.MAV_RESULT_FAILED
+            )
+            self.wait_statustext("PreArm: Motors Emergency Stopped", check_context=True)
+            self.context_pop()
+            self.reboot_sitl()
+
     def compare_number_percent(self, num1, num2, percent):
         if num1 == 0 and num2 == 0:
             return True
diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
index 763316da1d..cce9f7193e 100644
--- a/Tools/autotest/rover.py
+++ b/Tools/autotest/rover.py
@@ -4457,7 +4457,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
                      0, # p6 - test order (see MOTOR_TEST_ORDER)
                      0, # p7
         )
-        self.mav.motors_armed_wait()
+        self.wait_armed()
         self.progress("Waiting for magic throttle value")
         self.wait_servo_channel_value(3, magic_throttle_value)
         self.wait_servo_channel_value(3, self.get_parameter("RC3_TRIM", 5), timeout=10)