diff --git a/Tools/completion/bash/_ap_autotest b/Tools/completion/bash/_ap_autotest
index 79968bf90f..87cc3b8d0a 100644
--- a/Tools/completion/bash/_ap_autotest
+++ b/Tools/completion/bash/_ap_autotest
@@ -5,42 +5,16 @@ _ap_autotest() {
   COMPREPLY=()
   cur="${COMP_WORDS[COMP_CWORD]}"
   prev="${COMP_WORDS[COMP_CWORD - 1]}"
+  # don't complet =
+  _init_completion -n = || return
+
+  # get the calling program, remove anything after the space == all commands arguments
+  local caller
+  caller=$(echo $@ | sed 's/ .*//g')
+  opts=$($caller --list | sed -n -e '/^build/p' -e '/^test/p' -e '/^run/p')
+  tests=$($caller --list-vehicles-test | sed -n '/Copter/p')
+  opts+=$(compgen -W "${tests}" -P "test.")
 
-  case "$cur" in
-  -*)
-    # TODO: generate for waf help
-    opts="--help -h"
-    opts+=" -j"
-    opts+=" --skip"
-    opts+=" --list"
-    opts+=" --list-subtests"
-    opts+=" --viewerip"
-    opts+=" --map"
-    opts+=" --experimental"
-    opts+=" --timeout"
-    opts+=" --frame"
-    opts+=" --show-test-timings"
-    opts+=" --validate-parameters"
-    opts+=" --no-configure"
-    opts+=" --waf-configure-args"
-    opts+=" --no-clean"
-    opts+=" --debug"
-    opts+=" --speedup"
-    opts+=" --valgrind"
-    opts+=" --gdb"
-    opts+=" --gdbserver"
-    opts+=" --lldb"
-    opts+=" -B --breakpoint"
-    opts+=" --disable-breakpoints"
-    ;;
-  *)
-    # get the calling program, remove anything after the space == all commands arguments
-    local caller
-    caller=$(echo $@ | sed 's/ .*//g')
-    opts=$($caller --list)
-    ;;
-    # TODO: add completion for subtests and skip list
-  esac
   # Prevent word reuse
   lim=$((COMP_CWORD - 1))
   for i in $(seq 0 $lim); do
@@ -49,7 +23,35 @@ _ap_autotest() {
       opts=${opts//--${COMP_WORDS[i]}/}
     fi
   done
-  COMPREPLY=($(compgen -W "${opts}" -- ${cur}))
+
+  case $cur in
+    test.*.*)
+      local supported_vehicle_list
+      supported_vehicle_list=$($caller --list-vehicles | sed -n '/Copter/p')
+      local vehicle
+      # get the part before the last dot
+      lcur=${cur%.*}
+      # search for the right vehicle name in the list
+      # TODO : just extract the caracters between the two dot with bash and use python to extract the right subtests
+      for v in $supported_vehicle_list
+      do
+        if [[ ${lcur} == *"$v"* ]]
+        then
+          vehicle=$v
+          break
+        fi
+      done
+      azr=$($caller --list-subtests-for-vehicle "${vehicle}")
+      # append back the last dot
+      lcur="${lcur}."
+      opts=$(compgen -W "${azr}" -P "${lcur}")
+      COMPREPLY=( $(compgen -W "${opts}" -- ${cur}) )
+      ;;
+  esac
+
+  COMPREPLY=( $(compgen -W '$(_parse_help "$1")' -- "$cur") $(compgen -W "${opts}" -- ${cur}) )
+  [[ ${COMPREPLY-} == *. ]] && compopt -o nospace
+  [[ ${COMPREPLY-} == *= ]] && compopt -o nospace
 }
 
 complete -F _ap_autotest autotest.py