diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 9a88c19714..f6f8e7a73b 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -5155,26 +5155,17 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
 
     def TestGripperMission(self):
         '''Test Gripper mission items'''
-        self.context_push()
-        ex = None
-        try:
-            self.load_mission("copter-gripper-mission.txt")
-            self.change_mode('LOITER')
-            self.wait_ready_to_arm()
-            self.assert_vehicle_location_is_at_startup_location()
-            self.arm_vehicle()
-            self.change_mode('AUTO')
-            self.set_rc(3, 1500)
-            self.wait_statustext("Gripper Grabbed", timeout=60)
-            self.wait_statustext("Gripper Released", timeout=60)
-        except Exception as e:
-            self.print_exception_caught(e)
-            self.change_mode('LAND')
-            ex = e
-        self.context_pop()
+        num_wp = self.load_mission("copter-gripper-mission.txt")
+        self.change_mode('LOITER')
+        self.wait_ready_to_arm()
+        self.assert_vehicle_location_is_at_startup_location()
+        self.arm_vehicle()
+        self.change_mode('AUTO')
+        self.set_rc(3, 1500)
+        self.wait_statustext("Gripper Grabbed", timeout=60)
+        self.wait_statustext("Gripper Released", timeout=60)
+        self.wait_waypoint(num_wp-1, num_wp-1)
         self.wait_disarmed()
-        if ex is not None:
-            raise ex
 
     def SplineLastWaypoint(self):
         '''Test Spline as last waypoint'''