diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index b69a8f5d86..f94188e682 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -5443,6 +5443,19 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
         self.context_pop()
         self.reboot_sitl()
 
+    def GPSPreArms(self):
+        '''ensure GPS prearm checks work'''
+        self.wait_ready_to_arm()
+        self.start_subtest('DroneCAN sanity checks')
+        self.set_parameter('GPS1_TYPE', 9)
+        self.set_parameter('GPS2_TYPE', 9)
+        self.set_parameter('GPS1_CAN_OVRIDE', 130)
+        self.set_parameter('GPS2_CAN_OVRIDE', 130)
+        self.assert_prearm_failure(
+            "set for multiple GPS",
+            other_prearm_failures_fatal=False,
+        )
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestPlane, self).tests()
@@ -5555,6 +5568,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
             self.ClimbThrottleSaturation,
             self.GuidedAttitudeNoGPS,
             self.ScriptStats,
+            self.GPSPreArms,
         ])
         return ret