diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index af778bac08..80a5fc14d6 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -10187,6 +10187,44 @@ class AutoTestCopter(AutoTest):
             self.change_mode('RTL')
             self.wait_disarmed()
 
+    def DO_CHANGE_SPEED_in_guided(self):
+        '''test Copter DO_CHANGE_SPEED handling in guided mode'''
+        self.takeoff(20, mode='GUIDED')
+
+        loc = self.mav.location()
+        new_loc = self.mav.location()
+        new_loc_offset_n = 2000
+        new_loc_offset_e = 0
+        self.location_offset_ne(new_loc, new_loc_offset_n, new_loc_offset_e)
+
+        # for run_cmd we fly away from home
+        for (tloc, command) in (new_loc, self.run_cmd), (loc, self.run_cmd_int):
+            self.run_cmd_int(
+                mavutil.mavlink.MAV_CMD_DO_REPOSITION,
+                p1=-1,  # "default"
+                p2=0,   # flags; none supplied here
+                p3=0,   # loiter radius for planes, zero ignored
+                p4=float("nan"),  # nan means do whatever you want to do
+                p5=int(tloc.lat * 1e7),
+                p6=int(tloc.lng * 1e7),
+                p7=tloc.alt,
+                frame=mavutil.mavlink.MAV_FRAME_GLOBAL,
+            )
+            for speed in [2, 10, 4]:
+                command(
+                    mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED,
+                    p1=1,  # groundspeed,
+                    p2=speed,
+                    p3=-1,  # throttle, -1 is no-change
+                    p4=0,   # absolute value, not relative
+                )
+                self.wait_groundspeed(speed-0.2, speed+0.2, minimum_duration=2)
+
+        # we've made random changes to vehicle guided speeds above;
+        # reboot vehicle to reset those:
+        self.disarm_vehicle(force=True)
+        self.reboot_sitl()
+
     def tests2b(self):  # this block currently around 9.5mins here
         '''return list of all tests'''
         ret = ([
@@ -10246,6 +10284,7 @@ class AutoTestCopter(AutoTest):
             self.AHRSTrimLand,
             self.GuidedYawRate,
             self.NoArmWithoutMissionItems,
+            self.DO_CHANGE_SPEED_in_guided,
             self.RPLidarA1,
             self.RPLidarA2,
             self.SafetySwitch,