diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 2bcef0763b..c1e9181726 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -6681,19 +6681,28 @@ class AutoTestCopter(AutoTest):
             # inspect generated log for messages:
             dfreader = self.dfreader_for_current_onboard_log()
             wanted = set([0, 1, 2])
+            seen_primary_change = False
             while True:
-                m = dfreader.recv_match(type="GPS") # disarmed
+                m = dfreader.recv_match(type=["GPS", "EV"]) # disarmed
                 if m is None:
                     break
-                try:
-                    wanted.remove(m.I)
-                except KeyError:
-                    continue
-                if len(wanted) == 0:
+                mtype = m.get_type()
+                if mtype == 'GPS':
+                    try:
+                        wanted.remove(m.I)
+                    except KeyError:
+                        continue
+                elif mtype == 'EV':
+                    if m.Id == 67:  # GPS_PRIMARY_CHANGED
+                        seen_primary_change = True
+                if len(wanted) == 0 and seen_primary_change:
                     break
 
             if len(wanted):
                 raise NotAchievedException("Did not get all three GPS types")
+            if not seen_primary_change:
+                raise NotAchievedException("Did not see primary change")
+
         except Exception as e:
             self.progress("Caught exception: %s" %
                           self.get_exception_stacktrace(e))