diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 15baaf5f56..3261e595d9 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -3945,6 +3945,39 @@ class AutoTestPlane(AutoTest):
         self.disarm_vehicle(force=True)
         self.reboot_sitl()
 
+    def AltResetBadGPS(self):
+        '''Tests the handling of poor GPS lock pre-arm alt resets'''
+        self.set_parameters({
+            "SIM_GPS_GLITCH_Z": 0,
+            "SIM_GPS_ACC": 0.3,
+        })
+        self.wait_ready_to_arm()
+
+        m = self.assert_receive_message('GLOBAL_POSITION_INT')
+        relalt = m.relative_alt*0.001
+        if abs(relalt) > 3:
+            raise NotAchievedException("Bad relative alt %.1f" % relalt)
+
+        self.progress("Setting low accuracy, glitching GPS")
+        self.set_parameter("SIM_GPS_ACC", 40)
+        self.set_parameter("SIM_GPS_GLITCH_Z", -47)
+
+        self.progress("Waiting 10s for height update")
+        self.delay_sim_time(10)
+
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+
+        m = self.assert_receive_message('GLOBAL_POSITION_INT')
+        relalt = m.relative_alt*0.001
+        if abs(relalt) > 3:
+            raise NotAchievedException("Bad glitching relative alt %.1f" % relalt)
+
+        self.disarm_vehicle()
+        # reboot to clear potentially bad state
+        self.reboot_sitl()
+
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestPlane, self).tests()
@@ -4021,6 +4054,7 @@ class AutoTestPlane(AutoTest):
             self.GlideSlopeThresh,
             self.HIGH_LATENCY2,
             self.MidAirDisarmDisallowed,
+            self.AltResetBadGPS,
         ])
         return ret