diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index eb84112528..be66a04478 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -1124,9 +1124,12 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
 
     def TestRCRelay(self):
         '''Test Relay RC Channel Option'''
-        self.set_parameter("RC12_OPTION", 28) # Relay On/Off
+        self.set_parameters({
+            "RELAY1_FUNCTION": 1, # Enable relay as a standard relay pin
+            "RC12_OPTION": 28 # Relay On/Off
+        })
         self.set_rc(12, 1000)
-        self.reboot_sitl() # needed for RC12_OPTION to take effect
+        self.reboot_sitl() # needed for RC12_OPTION and RELAY1_FUNCTION to take effect
 
         off = self.get_parameter("SIM_PIN_MASK")
         if off:
diff --git a/Tools/autotest/default_params/rover.parm b/Tools/autotest/default_params/rover.parm
index 9095f40720..58e064d81b 100644
--- a/Tools/autotest/default_params/rover.parm
+++ b/Tools/autotest/default_params/rover.parm
@@ -24,8 +24,8 @@ RC1_MAX 2000
 RC1_MIN 1000
 RC3_MAX 2000
 RC3_MIN 1000
-RELAY_PIN 1
-RELAY_PIN2 2
+RELAY1_PIN 1
+RELAY2_PIN 2
 SERVO1_MIN 1000
 SERVO1_MAX 2000
 SERVO3_MAX 2000
diff --git a/Tools/autotest/default_params/vee-gull 005.param b/Tools/autotest/default_params/vee-gull 005.param
index 2ae334ae8b..6e5143632d 100644
--- a/Tools/autotest/default_params/vee-gull 005.param	
+++ b/Tools/autotest/default_params/vee-gull 005.param	
@@ -456,10 +456,7 @@ RCMAP_ROLL,1
 RCMAP_THROTTLE,3
 RCMAP_YAW,4
 RELAY_DEFAULT,0
-RELAY_PIN,13
-RELAY_PIN2,-1
-RELAY_PIN3,-1
-RELAY_PIN4,-1
+RELAY1_PIN,13
 RLL_RATE_D,0.000000
 RLL_RATE_FF,0.255000
 RLL_RATE_I,0.050000
diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
index 2f0870b351..8df6779667 100644
--- a/Tools/autotest/rover.py
+++ b/Tools/autotest/rover.py
@@ -568,6 +568,13 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
         '''Test ServoRelayEvents'''
         for method in self.run_cmd, self.run_cmd_int:
             self.context_push()
+
+            self.set_parameters({
+                "RELAY1_FUNCTION": 1, # Enable relay 1 as a standard relay pin
+                "RELAY2_FUNCTION": 1, # Enable relay 2 as a standard relay pin
+            })
+            self.reboot_sitl() # Needed for relay functions to take effect
+
             method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=0)
             off = self.get_parameter("SIM_PIN_MASK")
             method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=1)
@@ -602,8 +609,14 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
                 "on": 0,
             })
 
-            # add another servo:
-            self.set_parameter("RELAY_PIN6", 14)
+            # add another relay and ensure that it changes the "present field"
+            self.set_parameters({
+                "RELAY6_FUNCTION": 1, # Enable relay 6 as a standard relay pin
+                "RELAY6_PIN": 14, # Set pin number
+            })
+            self.reboot_sitl() # Needed for relay function to take effect
+            self.set_message_rate_hz("RELAY_STATUS", 10) # Need to re-request the message since reboot
+
             self.assert_received_message_field_values('RELAY_STATUS', {
                 "present": 35,
                 "on": 0,
@@ -5352,7 +5365,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
         self.context_collect("STATUSTEXT")
         self.set_parameters({
             "SCR_ENABLE": 1,
-            "RELAY_PIN": 1,
+            "RELAY1_FUNCTION": 1,
+            "RELAY1_PIN": 1
         })
         self.install_example_script_context("RCIN_test.lua")
         self.reboot_sitl()