diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index f2faa89ce9..96f48e450b 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -8946,6 +8946,7 @@ class AutoTestCopter(AutoTest):
              self.TakeoffAlt,
              self.SplineLastWaypoint,
              self.Gripper,
+             self.TestLocalHomePosition,
              self.TestGripperMission,
              self.VisionPosition,
              self.ATTITUDE_FAST,
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index 22f54a8ed9..0d0da302f1 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -9553,6 +9553,34 @@ Also, ignores heartbeats not from our target system'''
         self.context_pop()
         self.reboot_sitl()
 
+    def TestLocalHomePosition(self):
+        """Test local home position is sent in HOME_POSITION message"""
+        self.context_push()
+        self.wait_ready_to_arm()
+
+        # set home to a new location
+        self.mav.mav.command_long_send(1,
+                                       1,
+                                       mavutil.mavlink.MAV_CMD_DO_SET_HOME,
+                                       0,
+                                       0,
+                                       0,
+                                       0,
+                                       0,
+                                       -35.357466,
+                                       149.142589,
+                                       630)
+
+        # check home after home set
+        m = self.assert_receive_message("HOME_POSITION", timeout=5)
+        if abs(m.x) < 10 or abs(m.y) < 10 or abs(m.z) < 10:
+            raise NotAchievedException("Failed to get local home position: (got=%u, %u, %u)", m.x, m.y, m.z)
+        else:
+            self.progress(f"Received local home position successfully: (got={m.x}, {m.y}, {m.z})")
+
+        self.context_pop()
+        self.reboot_sitl()
+
     def install_terrain_handlers_context(self):
         '''install a message handler into the current context which will
         listen for an fulfill terrain requests from ArduPilot.  Will