diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 42bf49959e..b86ba297e7 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -3064,6 +3064,57 @@ class AutoTestPlane(AutoTest):
         if ex is not None:
             raise ex
 
+    def AUTOTUNE(self):
+        self.takeoff(100)
+        self.change_mode('AUTOTUNE')
+        self.context_collect('STATUSTEXT')
+        tstart = self.get_sim_time()
+        axis = "Roll"
+        rc_value = 1000
+        while True:
+            timeout = 600
+            if self.get_sim_time() - tstart > timeout:
+                raise NotAchievedException("Did not complete within %u seconds" % timeout)
+            try:
+                m = self.wait_statustext("%s: Finished" % axis, check_context=True, timeout=0.1)
+                self.progress("Got %s" % str(m))
+                if axis == "Roll":
+                    axis = "Pitch"
+                elif axis == "Pitch":
+                    break
+                else:
+                    raise ValueError("Bug: %s" % axis)
+            except AutoTestTimeoutException:
+                pass
+            self.delay_sim_time(1)
+
+            if rc_value == 1000:
+                rc_value = 2000
+            elif rc_value == 2000:
+                rc_value = 1000
+            elif rc_value == 1000:
+                rc_value = 2000
+            else:
+                raise ValueError("Bug")
+
+            if axis == "Roll":
+                self.set_rc(1, rc_value)
+                self.set_rc(2, 1500)
+            elif axis == "Pitch":
+                self.set_rc(1, 1500)
+                self.set_rc(2, rc_value)
+            else:
+                raise ValueError("Bug")
+
+        tdelta = self.get_sim_time() - tstart
+        self.progress("Finished in %0.1f seconds" % (tdelta,))
+
+        self.set_rc(1, 1500)
+        self.set_rc(2, 1500)
+
+        self.change_mode('FBWA')
+        self.fly_home_land_and_disarm(timeout=tdelta+240)
+
     def fly_landing_baro_drift(self):
 
         self.customise_SITL_commandline([], wipe=True)
@@ -3340,6 +3391,10 @@ class AutoTestPlane(AutoTest):
              "Test MAVProxy can talk FTP to autopilot",
              self.MAVFTP),
 
+            ("AUTOTUNE",
+             "Test AutoTune mode",
+             self.AUTOTUNE),
+
             ("LogUpload",
              "Log upload",
              self.log_upload),