diff --git a/Tools/autotest/ArduPlane_Tests/ICEngineMission/mission.txt b/Tools/autotest/ArduPlane_Tests/ICEngineMission/mission.txt
new file mode 100644
index 0000000000..6ec2dc78d2
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/ICEngineMission/mission.txt
@@ -0,0 +1,7 @@
+QGC WPL 110
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	-27.274439	151.290064	343.089996	1
+1	0	3	84	0.000000	0.000000	0.000000	0.000000	8.088916	1.817588	50.000000	1
+2	0	3	16	0.000000	0.000000	0.000000	0.000000	-27.273614	151.284212	100.000000	1
+3	0	3	16	0.000000	0.000000	0.000000	0.000000	-27.272018	151.285616	100.000000	1
+4	0	3	16	0.000000	0.000000	0.000000	0.000000	-27.272738	151.290290	100.000000	1
+5	0	3	85	0.000000	0.000000	0.000000	0.000000	-27.274316	151.288817	0.000000	1
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index 78ab37afba..fc1c7f5ea6 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -5596,6 +5596,32 @@ class AutoTest(ABC):
             pos += 1
         return None
 
+    def get_rpm(self, rpm_sensor):
+        m = self.assert_receive_message('RPM')
+        if rpm_sensor == 1:
+            ret = m.rpm1
+        elif rpm_sensor == 2:
+            ret = m.rpm2
+        else:
+            raise ValueError("Bad sensor id")
+        if ret < 0.000001:
+            # yay filtering!
+            return 0
+        return ret
+
+    def wait_rpm(self, rpm_sensor, rpm_min, rpm_max, **kwargs):
+        '''wait for RPM to be between rpm_min and rpm_max'''
+        def validator(value2, target2=None):
+            return rpm_min <= value2 <= rpm_max
+        self.wait_and_maintain(
+            value_name="RPM%u" % rpm_sensor,
+            target=(rpm_min+rpm_max)/2.0,
+            current_value_getter=lambda: self.get_rpm(rpm_sensor),
+            accuracy=rpm_max-rpm_min,
+            validator=lambda value2, target2: validator(value2, target2),
+            **kwargs
+        )
+
     def wait_esc_telem_rpm(self, esc, rpm_min, rpm_max, **kwargs):
         '''wait for ESC to be between rpm_min and rpm_max'''
         def validator(value2, target2=None):
@@ -5750,6 +5776,8 @@ class AutoTest(ABC):
         count_of_achieved_values = 0
         called_function = kwargs.get("called_function", None)
         minimum_duration = kwargs.get("minimum_duration", 0)
+        if minimum_duration >= timeout:
+            raise ValueError("minimum_duration >= timeout")
         if type(target) is Vector3:
             self.progress("Waiting for %s=(%s) with accuracy %.02f" % (value_name, str(target), accuracy))
         else:
@@ -11300,7 +11328,7 @@ switch value'''
         tstart = self.get_sim_time()
         while True:
             t = self.get_sim_time_cached()
-            if t - tstart > 10:
+            if t - tstart > timeout:
                 raise AutoTestTimeoutException("Failed to do get valid RPM")
             rpm = self.mav.recv_match(
                 type='RPM',
diff --git a/Tools/autotest/quadplane.py b/Tools/autotest/quadplane.py
index 4f8ff76b5e..1bbcec2b04 100644
--- a/Tools/autotest/quadplane.py
+++ b/Tools/autotest/quadplane.py
@@ -811,6 +811,56 @@ class AutoTestQuadPlane(AutoTest):
                 raise NotAchievedException("Changed throttle output on mode change to QHOVER")
         self.disarm_vehicle()
 
+    def ICEngine(self):
+        rc_engine_start_chan = 11
+        self.set_parameters({
+            'SERVO13_FUNCTION': 67,  # ignition
+            'SERVO14_FUNCTION': 69,  # starter
+            'ICE_ENABLE': 1,
+            'ICE_START_CHAN': rc_engine_start_chan,
+            'ICE_RPM_CHAN': 1,
+            'RPM1_TYPE': 10,
+        })
+        self.reboot_sitl()
+        self.wait_ready_to_arm()
+        self.wait_rpm(1, 0, 0, minimum_duration=1)
+        self.arm_vehicle()
+        self.wait_rpm(1, 0, 0, minimum_duration=1)
+        self.context_collect("STATUSTEXT")
+        self.progress("Setting engine-start RC switch to HIGH")
+        self.set_rc(rc_engine_start_chan, 2000)
+        self.wait_statustext("Starting engine", check_context=True)
+        self.wait_rpm(1, 300, 400, minimum_duration=1)
+        self.progress("Setting engine-start RC switch to MID")
+        self.set_rc(rc_engine_start_chan, 1500)
+        self.progress("Setting full throttle")
+        self.set_rc(3, 2000)
+        self.wait_rpm(1, 6500, 7500, minimum_duration=30, timeout=40)
+        self.progress("Setting min-throttle")
+        self.set_rc(3, 1000)
+        self.wait_rpm(1, 300, 400, minimum_duration=1)
+        self.progress("Setting engine-start RC switch to LOW")
+        self.set_rc(rc_engine_start_chan, 1000)
+        self.wait_rpm(1, 0, 0, minimum_duration=1)
+        self.disarm_vehicle()
+
+    def ICEngineMission(self):
+        rc_engine_start_chan = 11
+        self.set_parameters({
+            'SERVO13_FUNCTION': 67,  # ignition
+            'SERVO14_FUNCTION': 69,  # starter
+            'ICE_ENABLE': 1,
+            'ICE_START_CHAN': rc_engine_start_chan,
+            'ICE_RPM_CHAN': 1,
+            'RPM1_TYPE': 10,
+        })
+        self.load_mission("mission.txt")
+        self.wait_ready_to_arm()
+        self.set_rc(rc_engine_start_chan, 2000)
+        self.arm_vehicle()
+        self.change_mode('AUTO')
+        self.wait_disarmed(timeout=300)
+
     def tests(self):
         '''return list of all tests'''
 
@@ -854,6 +904,13 @@ class AutoTestQuadPlane(AutoTest):
              "Test tailsitter support",
              self.tailsitter),
 
+            ("ICEngine",
+             "Test ICE Engine support",
+             self.ICEngine),
+
+            ("ICEngineMission",
+             "Test ICE Engine Mission support",
+             self.ICEngineMission),
 
             ("LogUpload",
              "Log upload",