diff --git a/Tools/autotest/ardusub.py b/Tools/autotest/ardusub.py
index f2b52994ef..5409756931 100644
--- a/Tools/autotest/ardusub.py
+++ b/Tools/autotest/ardusub.py
@@ -141,6 +141,21 @@ class AutoTestSub(AutoTest):
 
         self.disarm_vehicle()
 
+    def test_mot_thst_hover_ignore(self):
+        """Test if we are ignoring MOT_THST_HOVER parameter
+        """
+
+        # Test default parameter value
+        mot_thst_hover_value = self.get_parameter("MOT_THST_HOVER")
+        if mot_thst_hover_value != 0.5:
+            raise NotAchievedException("Unexpected default MOT_THST_HOVER parameter value {}".format(mot_thst_hover_value))
+
+        # Test if parameter is being ignored
+        for value in [0.25, 0.75]:
+            self.set_parameter("MOT_THST_HOVER", value)
+            self.test_alt_hold()
+
+
     def dive_manual(self):
         self.wait_ready_to_arm()
         self.arm_vehicle()
@@ -287,6 +302,8 @@ class AutoTestSub(AutoTest):
              "Test gripper mission items",
              self.test_gripper_mission),
 
+            ("MotorThrustHoverParameterIgnore", "Test if we are ignoring MOT_THST_HOVER", self.test_mot_thst_hover_ignore),
+
             ("SET_POSITION_TARGET_GLOBAL_INT",
              "Move vehicle using SET_POSITION_TARGET_GLOBAL_INT",
              self.dive_set_position_target),