diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
index ed79e1417b..dba7c96157 100644
--- a/Tools/autotest/rover.py
+++ b/Tools/autotest/rover.py
@@ -6901,6 +6901,20 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
         self.set_parameter('FENCE_TYPE', 6)
         self.assert_prearm_failure('vehicle outside fence', other_prearm_failures_fatal=False, timeout=120)
 
+    def OpticalFlow(self):
+        '''lightly test OpticalFlow'''
+        self.wait_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW, False, False, False, verbose=True)
+
+        self.context_push()
+        self.set_parameter("SIM_FLOW_ENABLE", 1)
+        self.set_parameter("FLOW_TYPE", 10)
+
+        self.reboot_sitl()
+        self.wait_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW, True, True, True, verbose=True)
+
+        self.context_pop()
+        self.reboot_sitl()
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestRover, self).tests()
@@ -6991,6 +7005,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
             self.MissionRetransfer,
             self.FenceFullAndPartialTransfer,
             self.MissionPolyEnabledPreArm,
+            self.OpticalFlow,
         ])
         return ret