diff --git a/Tools/autotest/quadplane.py b/Tools/autotest/quadplane.py
index 9074baacea..8b94c6eeef 100644
--- a/Tools/autotest/quadplane.py
+++ b/Tools/autotest/quadplane.py
@@ -1442,6 +1442,48 @@ class AutoTestQuadPlane(AutoTest):
 
         self.fly_home_land_and_disarm()
 
+    def MAV_CMD_NAV_TAKEOFF(self):
+        '''test issuing takeoff command via mavlink'''
+        self.change_mode('GUIDED')
+        self.wait_ready_to_arm()
+
+        self.arm_vehicle()
+        self.run_cmd(mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, p7=5)
+        self.wait_altitude(4.5, 5.5, minimum_duration=5, relative=True)
+        self.change_mode('QLAND')
+        self.wait_disarmed()
+
+        self.start_subtest("Check NAV_TAKEOFF is above current location, not home location")
+        self.change_mode('GUIDED')
+        self.wait_ready_to_arm()
+
+        # reset home 20 metres above current location
+        current_alt_abs = self.get_altitude(relative=False)
+
+        loc = self.mav.location()
+
+        home_z_ofs = 20
+        self.run_cmd(
+            mavutil.mavlink.MAV_CMD_DO_SET_HOME,
+            p5=loc.lat,
+            p6=loc.lng,
+            p7=current_alt_abs + home_z_ofs,
+        )
+
+        self.arm_vehicle()
+        takeoff_alt = 5
+        self.run_cmd(mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, p7=takeoff_alt)
+        self.wait_altitude(
+            current_alt_abs + takeoff_alt - 0.5,
+            current_alt_abs + takeoff_alt + 0.5,
+            minimum_duration=5,
+            relative=False,
+        )
+        self.change_mode('QLAND')
+        self.wait_disarmed()
+
+        self.reboot_sitl()  # unlock home position
+
     def tests(self):
         '''return list of all tests'''
 
@@ -1480,5 +1522,6 @@ class AutoTestQuadPlane(AutoTest):
             self.RCDisableAirspeedUse,
             self.mission_MAV_CMD_DO_VTOL_TRANSITION,
             self.mavlink_MAV_CMD_DO_VTOL_TRANSITION,
+            self.MAV_CMD_NAV_TAKEOFF,
         ])
         return ret