diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index acd1a9a557..c59777a125 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -5022,6 +5022,21 @@ class AutoTestCopter(AutoTest):
 
         self.fly_rangefinder_mavlink()
 
+        i2c_drivers = [
+            ("maxbotixi2cxl", 2),
+            ]
+        while len(i2c_drivers):
+            do_drivers = i2c_drivers[0:9]
+            i2c_drivers = i2c_drivers[9:]
+            count = 1
+            for d in do_drivers:
+                (sim_name, rngfnd_param_value) = d
+                self.set_parameter("RNGFND%u_TYPE" % count, rngfnd_param_value)
+                count += 1
+
+            self.reboot_sitl()
+            self.fly_rangefinder_drivers_fly([x[0] for x in do_drivers])
+
     def fly_ship_takeoff(self):
         # test ship takeoff
         self.wait_groundspeed(0, 2)