diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 892af5bf69..cc6323f570 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -6915,9 +6915,11 @@ class AutoTestCopter(AutoTest):
             })
             self.set_analog_rangefinder_parameters()
             self.reboot_sitl()
-            tstart = self.get_sim_time()
+
             self.change_mode('LOITER')
             self.wait_ekf_happy()
+
+            tstart = self.get_sim_time()
             while True:
                 if self.armed():
                     break
@@ -6934,6 +6936,7 @@ class AutoTestCopter(AutoTest):
                     255  # covariance
                 )
                 self.send_mavlink_arm_command()
+
             self.takeoff(15, mode='LOITER')
             self.progress("Poking vehicle; should avoid")