diff --git a/Tools/autotest/sim_vehicle.py b/Tools/autotest/sim_vehicle.py
index b6a358c3ee..6a788cb5bf 100755
--- a/Tools/autotest/sim_vehicle.py
+++ b/Tools/autotest/sim_vehicle.py
@@ -670,8 +670,28 @@ def start_CAN_GPS(opts):
     options = vinfo.options["sitl_periph_gps"]['frames']['gps']
     do_build(opts, options)
     exe = os.path.join(root_dir, 'build/sitl_periph_gps', 'bin/AP_Periph')
-    run_in_terminal_window("sitl_periph_gps",
-                           ["nice", exe])
+    cmd = ["nice"]
+    cmd_name = "sitl_periph_gps"
+    if opts.valgrind:
+        cmd_name += " (valgrind)"
+        cmd.append("valgrind")
+        # adding this option allows valgrind to cope with the overload
+        # of operator new
+        cmd.append("--soname-synonyms=somalloc=nouserintercepts")
+        cmd.append("--track-origins=yes")
+    if opts.gdb or opts.gdb_stopped:
+        cmd_name += " (gdb)"
+        cmd.append("gdb")
+        gdb_commands_file = tempfile.NamedTemporaryFile(mode='w', delete=False)
+        atexit.register(os.unlink, gdb_commands_file.name)
+        gdb_commands_file.write("set pagination off\n")
+        if not opts.gdb_stopped:
+            gdb_commands_file.write("r\n")
+        gdb_commands_file.close()
+        cmd.extend(["-x", gdb_commands_file.name])
+        cmd.append("--args")
+    cmd.append(exe)
+    run_in_terminal_window(cmd_name, cmd)
 
 
 def start_vehicle(binary, opts, stuff, spawns=None):