diff --git a/Tools/autotest/ArduCopter_Tests/BaroDrivers/copter_mission.txt b/Tools/autotest/ArduCopter_Tests/BaroDrivers/copter_mission.txt
new file mode 100644
index 0000000000..c844ac4137
--- /dev/null
+++ b/Tools/autotest/ArduCopter_Tests/BaroDrivers/copter_mission.txt
@@ -0,0 +1,14 @@
+QGC WPL 110
+0	1	0	16	0.000000	0.000000	0.000000	0.000000	-35.362881	149.165222	582.000000	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	115	640.000000	20.000000	1.000000	1.000000	0.000000	0.000000	0.000000	1
+4	0	3	19	5.000000	0.000000	0.000000	1.000000	0.000000	0.000000	20.000000	1
+5	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365361	149.163501	0.000000	1
+6	0	3	16	1.000000	0.000000	0.000000	0.000000	-35.365361	149.163995	40.000000	1
+7	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365361	149.164563	20.000000	1
+8	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364652	149.164531	20.000000	1
+9	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364652	149.163995	20.000000	1
+10	0	3	177	8.000000	1.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+11	0	3	16	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+12	0	3	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 ba1239c0a4..fd71269023 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -6821,6 +6821,63 @@ class AutoTestCopter(AutoTest):
         if not ok:
             raise NotAchievedException("check_replay failed")
 
+    def BaroDrivers(self):
+        sensors = [
+            ("MS5611", 2),
+        ]
+        for (name, bus) in sensors:
+            self.context_push()
+            if bus is not None:
+                self.set_parameter("BARO_EXT_BUS", bus)
+            self.set_parameter("BARO_PROBE_EXT", 1 << 2)
+            self.reboot_sitl()
+            self.wait_ready_to_arm()
+            self.arm_vehicle()
+
+            # insert listener to compare airspeeds:
+            messages = [None, None, None]
+
+            global count
+            count = 0
+
+            def check_pressure(mav, m):
+                global count
+                m_type = m.get_type()
+                count += 1
+                # if count > 500:
+                #     if press_abs[0] is None or press_abs[1] is None:
+                #         raise NotAchievedException("Not receiving messages")
+                if m_type == 'SCALED_PRESSURE3':
+                    off = 2
+                elif m_type == 'SCALED_PRESSURE2':
+                    off = 1
+                elif m_type == 'SCALED_PRESSURE':
+                    off = 0
+                else:
+                    return
+
+                messages[off] = m
+
+                # FIXME: make the numbers we use in the i2c simulated
+                # baros closer to the ones from AP_Baro_SITL
+                if None in messages:
+                    return
+                first = messages[0]
+                for msg in messages[1:]:
+                    delta_press_abs = abs(first.press_abs - msg.press_abs)
+                    if delta_press_abs > 5:
+                        raise NotAchievedException("Press_Abs mismatch (press1=%s press2=%s)" % (first, msg))
+                    delta_temperature = abs(first.temperature - msg.temperature)
+                    if delta_temperature > 1000:  # that's 10-degrees leeway
+                        raise NotAchievedException("Temperature mismatch (t1=%s t2=%s)" % (first, msg))
+            self.install_message_hook_context(check_pressure)
+            self.fly_mission("copter_mission.txt", strict=False)
+            if None in messages:
+                raise NotAchievedException("Missing a message")
+
+            self.context_pop()
+        self.reboot_sitl()
+
     def test_copter_gps_zero(self):
         # https://github.com/ArduPilot/ardupilot/issues/14236
         self.progress("arm the vehicle and takeoff in Guided")
@@ -7331,6 +7388,10 @@ class AutoTestCopter(AutoTest):
              "Test RangeFinder Basic Functionality",
              self.test_rangefinder),  # 23s
 
+            ("BaroDrivers",
+             "Test Baro Drivers",
+             self.BaroDrivers),
+
             ("SurfaceTracking",
              "Test Surface Tracking",
              self.test_surface_tracking),  # 45s