diff --git a/Tools/autotest/default_params/quadplane-cl84.parm b/Tools/autotest/default_params/quadplane-cl84.parm
new file mode 100644
index 0000000000..3cbce18ce7
--- /dev/null
+++ b/Tools/autotest/default_params/quadplane-cl84.parm
@@ -0,0 +1,68 @@
+ARMING_RUDDER    2
+ARSPD_TYPE       0
+ARSPD_FBW_MAX    35
+ARSPD_FBW_MIN    6
+AUTOTUNE_LEVEL   8
+COMPASS_OFS2_X   -0.420265
+COMPASS_OFS2_Y   -0.726942
+COMPASS_OFS2_Z   6.665476
+COMPASS_OFS3_X   0
+COMPASS_OFS3_Y   0
+COMPASS_OFS3_Z   0
+COMPASS_OFS_X    -0.453570
+COMPASS_OFS_Y    -0.585846
+COMPASS_OFS_Z    6.815743
+FBWB_CLIMB_RATE  10
+FLTMODE1         10
+FLTMODE2         11
+FLTMODE3         12
+FLTMODE4         5
+FLTMODE5         19
+FLTMODE6         5
+FLTMODE_CH       5
+INS_ACC2OFFS_X   0.001000
+INS_ACC2OFFS_Y   0.001000
+INS_ACC2OFFS_Z   0.001000
+INS_ACC2SCAL_X   1.001000
+INS_ACC2SCAL_Y   1.001000
+INS_ACC2SCAL_Z   1.001000
+INS_ACCOFFS_X    0.001000
+INS_ACCOFFS_Y    0.001000
+INS_ACCOFFS_Z    0.001000
+INS_ACCSCAL_X    1.001000
+INS_ACCSCAL_Y    1.001000
+INS_ACCSCAL_Z    1.001000
+INS_GYR_CAL      0
+KFF_RDDRMIX      0.500000
+LIM_PITCH_MAX    3000
+LIM_PITCH_MIN    -3000
+LIM_ROLL_CD      6500
+NAVL1_PERIOD     14
+PTCH2SRV_D       0.309954
+PTCH2SRV_I       0.425000
+PTCH2SRV_IMAX    4000
+PTCH2SRV_P       3.646518
+PTCH2SRV_RLL     1
+RALLY_INCL_HOME  0
+RALLY_LIMIT_KM   5
+RALLY_TOTAL      0
+RLL2SRV_D        0.141009
+RLL2SRV_I        0.425000
+RLL2SRV_IMAX     4000
+RLL2SRV_P        1.600000
+THR_MAX          100
+TRIM_ARSPD_CM    2500
+SERVO12_FUNCTION 41
+SERVO12_MIN      1000
+SERVO12_MAX      2000
+SERVO11_TRIM     1500
+RTL_RADIUS       80
+ALT_HOLD_RTL     2000
+Q_ENABLE         1
+Q_FRAME_CLASS    7
+Q_ANGLE_MAX      4500
+Q_ASSIST_SPEED   6
+Q_TILT_MASK      3
+Q_TILT_RATE      13
+Q_TILT_TYPE      1
+Q_RTL_MODE       1
diff --git a/Tools/autotest/sim_vehicle.py b/Tools/autotest/sim_vehicle.py
index 365b63770b..ff4f9de734 100755
--- a/Tools/autotest/sim_vehicle.py
+++ b/Tools/autotest/sim_vehicle.py
@@ -311,6 +311,11 @@ _options_for_frame = {
         "waf_target": "bin/arduplane",
         "default_params_filename": "default_params/quadplane-tri.parm",
     },
+    "quadplane-cl84" : {
+        "make_target" : "sitl",
+        "waf_target" : "bin/arduplane",
+        "default_params_filename": "default_params/quadplane-cl84.parm",
+    },
     "quadplane": {
         "waf_target": "bin/arduplane",
         "default_params_filename": "default_params/quadplane.parm",