diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 3633db2f4d..57faea80ca 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -1143,7 +1143,7 @@ class AutoTestCopter(AutoTest):
         else:
             self.set_rc(3, 1700)
         # we may never see ourselves as armed in a heartbeat
-        self.wait_statustext("Takeoff blocked: ESC RPM too low", check_context=True)
+        self.wait_statustext("Takeoff blocked: ESC RPM out of range", check_context=True)
         self.context_pop()
         self.zero_throttle()
         self.disarm_vehicle()
@@ -1168,6 +1168,21 @@ class AutoTestCopter(AutoTest):
         self.test_takeoff_check_mode("POSHOLD")
         # self.test_takeoff_check_mode("SPORT")
 
+        self.set_parameters({
+            "AHRS_EKF_TYPE": 10,
+            'SIM_ESC_TELEM': 1,
+            'TKOFF_RPM_MIN': 1,
+            'TKOFF_RPM_MAX': 3,
+        })
+        self.test_takeoff_check_mode("STABILIZE")
+        self.test_takeoff_check_mode("ACRO")
+        self.test_takeoff_check_mode("LOITER")
+        self.test_takeoff_check_mode("ALT_HOLD")
+        # self.test_takeoff_check_mode("FLOWHOLD")
+        self.test_takeoff_check_mode("GUIDED", True)
+        self.test_takeoff_check_mode("POSHOLD")
+        # self.test_takeoff_check_mode("SPORT")
+
     def assert_dataflash_message_field_level_at(self,
                                                 mtype,
                                                 field,