diff --git a/Tools/autotest/ArduPlane-Missions/Dalby-OBC2016.txt b/Tools/autotest/ArduPlane-Missions/Dalby-OBC2016.txt
index 6d9ebe4d6d..d7cb390ffe 100644
--- a/Tools/autotest/ArduPlane-Missions/Dalby-OBC2016.txt
+++ b/Tools/autotest/ArduPlane-Missions/Dalby-OBC2016.txt
@@ -1,18 +1,20 @@
 QGC WPL 110
-0	1	0	16	0.000000	0.000000	0.000000	0.000000	-27.275917	151.288956	343.380005	1
-1	0	3	22	10.000000	0.000000	0.000000	0.000000	-27.272867	151.290298	20.000000	1
-2	1	3	16	0.000000	0.000000	0.000000	0.000000	-27.272703	151.298172	100.000000	1
-3	1	3	16	0.000000	0.000000	0.000000	0.000000	-27.277561	151.337250	100.000000	1
-4	1	3	16	0.000000	0.000000	0.000000	0.000000	-27.281748	151.335953	100.000000	1
-5	1	3	16	0.000000	0.000000	0.000000	0.000000	-27.275724	151.289932	100.000000	1
-6	1	3	16	0.000000	0.000000	0.000000	0.000000	-27.297457	151.285629	100.000000	1
-7	1	3	16	0.000000	0.000000	0.000000	0.000000	-27.308109	151.354279	100.000000	1
-8	1	3	16	0.000000	0.000000	0.000000	0.000000	-27.332256	151.376282	100.000000	1
-9	1	3	16	0.000000	0.000000	0.000000	0.000000	-27.308224	151.354538	100.000000	1
-10	1	3	16	0.000000	0.000000	0.000000	0.000000	-27.297340	151.285370	100.000000	1
-11	1	3	16	0.000000	0.000000	0.000000	0.000000	-27.275724	151.289932	100.000000	1
-12	1	3	16	0.000000	0.000000	0.000000	0.000000	-27.281631	151.335953	100.000000	1
-13	1	3	16	0.000000	0.000000	0.000000	0.000000	-27.277679	151.337128	100.000000	1
-14	1	3	16	0.000000	0.000000	0.000000	0.000000	-27.272585	151.298294	100.000000	1
-15	1	3	16	0.000000	0.000000	0.000000	0.000000	-27.271421	151.290482	30.000000	1
-16	0	3	21	0.000000	0.000000	0.000000	0.000000	-27.274094	151.290100	0.000000	1
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	-27.274094	151.290100	343.100006	1
+1	0	3	84	0.000000	0.000000	0.000000	0.000000	-27.272867	151.290298	10.000000	1
+2	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.272703	151.298172	100.000000	1
+3	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.277561	151.337250	100.000000	1
+4	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.281748	151.335953	100.000000	1
+5	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.275724	151.289932	100.000000	1
+6	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.297457	151.285629	100.000000	1
+7	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.308109	151.354279	100.000000	1
+8	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.331802	151.375610	40.529999	1
+9	0	10	85	0.000000	0.000000	0.000000	0.000000	-27.332270	151.375854	0.000000	1
+10	0	10	84	0.000000	0.000000	0.000000	0.000000	-27.332270	151.375854	40.000000	1
+11	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.308224	151.354538	100.000000	1
+12	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.297340	151.285370	100.000000	1
+13	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.275724	151.289932	100.000000	1
+14	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.281631	151.335953	100.000000	1
+15	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.277679	151.337128	100.000000	1
+16	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.272585	151.298294	100.000000	1
+17	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.271421	151.290482	30.000000	1
+18	0	10	85	0.000000	0.000000	0.000000	0.000000	-27.274094	151.290100	0.000000	1
diff --git a/Tools/autotest/quadplane.py b/Tools/autotest/quadplane.py
index 4943b3790d..c09618059e 100644
--- a/Tools/autotest/quadplane.py
+++ b/Tools/autotest/quadplane.py
@@ -9,22 +9,31 @@ import random
 testdir=os.path.dirname(os.path.realpath(__file__))
 
 
-#HOME_LOCATION='-27.274439,151.290064,343,8.7'
-HOME_LOCATION='-35.362938,149.165085,585,354'
+HOME_LOCATION='-27.274439,151.290064,343,8.7'
+MISSION='ArduPlane-Missions/Dalby-OBC2016.txt'
+FENCE='ArduPlane-Missions/Dalby-OBC2016-fence.txt'
 WIND="0,180,0.2" # speed,direction,variance
 
 homeloc = None
 
-def fly_mission(mavproxy, mav, filename, height_accuracy=-1):
+def fly_mission(mavproxy, mav, filename, fence, height_accuracy=-1):
     '''fly a mission from a file'''
     print("Flying mission %s" % filename)
     mavproxy.send('wp load %s\n' % filename)
     mavproxy.expect('Flight plan received')
+    mavproxy.send('fence load %s\n' % fence)
     mavproxy.send('wp list\n')
     mavproxy.expect('Requesting [0-9]+ waypoints')
     mavproxy.send('mode AUTO\n')
     wait_mode(mav, 'AUTO')
-    if not wait_waypoint(mav, 1, 12, max_dist=60):
+    if not wait_waypoint(mav, 1, 9, max_dist=60):
+        return False
+    mavproxy.expect('DISARMED')
+    # wait for blood sample here
+    mavproxy.send('wp set 10\n')
+    mavproxy.send('arm throttle\n')
+    mavproxy.expect('ARMED')
+    if not wait_waypoint(mav, 10, 18, max_dist=60):
         return False
     mavproxy.expect('DISARMED')
     print("Mission OK")
@@ -45,7 +54,7 @@ def fly_QuadPlane(viewerip=None, map=False):
     if map:
         options += ' --map'
 
-    sil = util.start_SIL('ArduPlane', model='quadplane', wipe=True, home=HOME_LOCATION, speedup=10,
+    sil = util.start_SIL('ArduPlane', model='quadplane', wipe=True, home=HOME_LOCATION, speedup=20,
                          defaults_file=os.path.join(testdir, 'quadplane.parm'))
     mavproxy = util.start_MAVProxy_SIL('QuadPlane', options=options)
     mavproxy.expect('Telemetry log: (\S+)')
@@ -98,7 +107,9 @@ def fly_QuadPlane(viewerip=None, map=False):
         mavproxy.send('arm throttle\n')
         mavproxy.expect('ARMED')
         
-        if not fly_mission(mavproxy, mav, os.path.join(testdir, "ArduPlane-Missions/CMAC-VTOL-ccw.txt")):
+        if not fly_mission(mavproxy, mav,
+                           os.path.join(testdir, "ArduPlane-Missions/Dalby-OBC2016.txt"),
+                           os.path.join(testdir, "ArduPlane-Missions/Dalby-OBC2016-fence.txt")):
             print("Failed mission")
             failed = True
         if not log_download(mavproxy, mav, util.reltopdir("../buildlogs/QuadPlane-log.bin")):