diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 4753f0c5db..eb156a1f57 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -7403,7 +7403,6 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
         self.reach_heading_manual(225)
         self.wait_location(west_loc, accuracy=6, timeout=200)
         self.set_rc(2, 1500)
-        self.do_RTL()
 
     def OBSTACLE_DISTANCE_3D_test_angle(self, angle):
         now = self.get_sim_time_cached()
@@ -7493,6 +7492,8 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
         self.progress("Enabling proximity")
         self.set_rc(10, 2000)
         self.check_avoidance_corners()
+        self.set_rc(10, 1000)
+        self.do_RTL()
 
         self.assert_current_onboard_log_contains_message("PRX")
         self.assert_current_onboard_log_contains_message("PRXR")
@@ -7660,6 +7661,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
         self.load_fence("copter-avoidance-fence.txt")
         self.set_parameter("FENCE_ENABLE", 1)
         self.check_avoidance_corners()
+        self.do_RTL()
 
     def AvoidanceAltFence(self):
         '''Test fence avoidance at minimum and maximum altitude'''