diff --git a/Tools/autotest/ArduPlane-Missions/CMAC-VTOL-ccw.txt b/Tools/autotest/ArduPlane-Missions/CMAC-VTOL-ccw.txt
deleted file mode 100644
index 541b416dbc..0000000000
--- a/Tools/autotest/ArduPlane-Missions/CMAC-VTOL-ccw.txt
+++ /dev/null
@@ -1,14 +0,0 @@
-QGC WPL 110
-0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.362587	149.165634	587.190002	1
-1	0	3	84	0.000000	0.000000	0.000000	0.000000	-35.362320	149.164993	10.000000	1
-2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.360947	149.162872	70.000000	1
-3	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364517	149.163818	70.000000	1
-4	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364281	149.164825	70.000000	1
-5	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.360767	149.163971	70.000000	1
-6	0	0	177	2.000000	1.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
-7	0	3	189	0.000000	0.000000	0.000000	0.000000	-35.362099	149.162933	60.000000	1
-8	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.362217	149.163193	60.000000	1
-9	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364857	149.164429	45.000000	1
-10	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364784	149.165451	30.000000	1
-11	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.363098	149.165192	15.000000	1
-12	0	3	85	0.000000	0.000000	0.000000	0.000000	-35.362679	149.165146	0.000000	1
diff --git a/Tools/autotest/ArduPlane-Missions/CMAC-bigloop.txt b/Tools/autotest/ArduPlane-Missions/CMAC-bigloop.txt
deleted file mode 100644
index 87121eb13a..0000000000
--- a/Tools/autotest/ArduPlane-Missions/CMAC-bigloop.txt
+++ /dev/null
@@ -1,8 +0,0 @@
-QGC WPL 110
-0	1	0	16	0.000000	0.000000	0.000000	0.000000	-35.362938	149.165085	584.400024	1
-1	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.360916	149.162460	99.669998	1
-2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365421	149.163071	98.970001	1
-3	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365284	149.164474	99.470001	1
-4	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.360806	149.163940	98.019997	1
-5	0	3	177	1.000000	-1.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
-6	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.359272	149.163757	100.000000	1
diff --git a/Tools/autotest/ArduPlane-Missions/CMAC-toff-loop.txt b/Tools/autotest/ArduPlane-Missions/CMAC-toff-loop.txt
deleted file mode 100644
index 7a44c3bb25..0000000000
--- a/Tools/autotest/ArduPlane-Missions/CMAC-toff-loop.txt
+++ /dev/null
@@ -1,9 +0,0 @@
-QGC WPL 110
-0	1	0	16	0.000000	0.000000	0.000000	0.000000	-35.362938	149.165085	584.409973	1
-1	0	3	22	15.000000	0.000000	0.000000	0.000000	-35.361164	149.163986	28.110001	1
-2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.359467	149.161697	99.800003	1
-3	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.366333	149.162659	100.730003	1
-4	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.366131	149.164581	100.000000	1
-5	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.359272	149.163757	100.000000	1
-6	0	3	177	2.000000	-1.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
-7	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.359272	149.163757	100.000000	1
diff --git a/Tools/autotest/ArduPlane-Missions/CMAC-turns.txt b/Tools/autotest/ArduPlane-Missions/CMAC-turns.txt
deleted file mode 100644
index 651b7df817..0000000000
--- a/Tools/autotest/ArduPlane-Missions/CMAC-turns.txt
+++ /dev/null
@@ -1,10 +0,0 @@
-QGC WPL 110
-0	1	0	16	0.000000	0.000000	0.000000	0.000000	-35.362938	149.165085	584.400024	1
-1	0	3	22	15.000000	0.000000	0.000000	0.000000	-35.361164	149.163986	28.000000	1
-2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.359409	149.161835	100.000000	1
-3	0	3	18	2.000000	0.000000	80.000000	0.000000	-35.362717	149.160858	100.000000	1
-4	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.366138	149.162674	100.000000	1
-5	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.366016	149.164948	99.000000	1
-6	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.359306	149.163940	101.000000	1
-7	0	3	177	2.000000	-1.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
-8	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.359272	149.163757	100.000000	1
diff --git a/Tools/autotest/ArduPlane-Missions/KSFO-VTOL.txt b/Tools/autotest/ArduPlane-Missions/KSFO-VTOL.txt
deleted file mode 100644
index 6ae05aa4c0..0000000000
--- a/Tools/autotest/ArduPlane-Missions/KSFO-VTOL.txt
+++ /dev/null
@@ -1,13 +0,0 @@
-QGC WPL 110
-0	0	0	16	0.000000	0.000000	0.000000	0.000000	37.619373	-122.376640	5.400000	1
-1	0	3	84	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	12.000000	1
-2	0	3	16	0.000000	0.000000	0.000000	0.000000	37.619404	-122.375694	20.000000	1
-3	0	3	16	0.000000	0.000000	0.000000	0.000000	37.615887	-122.368355	100.000000	1
-4	0	3	16	0.000000	0.000000	0.000000	0.000000	37.611900	-122.369843	100.000000	1
-5	0	3	16	0.000000	0.000000	0.000000	0.000000	37.614376	-122.376419	100.000000	1
-6	0	3	16	0.000000	0.000000	0.000000	0.000000	37.618359	-122.374435	100.000000	1
-7	0	0	177	3.000000	1.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
-8	0	3	189	0.000000	0.000000	0.000000	0.000000	37.615974	-122.379913	80.000000	1
-9	0	3	16	0.000000	0.000000	0.000000	0.000000	37.616554	-122.379753	50.000000	1
-10	0	3	16	0.000000	0.000000	0.000000	0.000000	37.619015	-122.376984	24.000000	1
-11	0	3	85	0.000000	0.000000	0.000000	0.000000	37.619301	-122.376450	0.000000	1
diff --git a/Tools/autotest/ArduPlane_Tests/AIRSPEED_AUTOCAL/flaps.txt b/Tools/autotest/ArduPlane_Tests/AIRSPEED_AUTOCAL/flaps.txt
new file mode 100644
index 0000000000..93d0726c86
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/AIRSPEED_AUTOCAL/flaps.txt
@@ -0,0 +1,13 @@
+QGC WPL 110
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.363262	149.165237	584.390015	1
+1	0	3	22	15.000000	0.000000	0.000000	0.000000	-35.361279	149.164230	30.000000	1
+2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361229	149.163025	80.000000	1
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+4	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364384	149.164795	80.000000	1
+5	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361027	149.164093	80.000000	1
+6	0	0	177	2.000000	3.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+7	0	3	189	0.000000	0.000000	0.000000	0.000000	-35.362915	149.162613	60.000000	1
+8	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.363136	149.162750	60.000000	1
+9	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365467	149.164215	55.000000	1
+10	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365009	149.165482	39.889999	1
+11	0	3	21	0.000000	0.000000	0.000000	1.000000	-35.363041	149.165222	0.000000	1
diff --git a/Tools/autotest/ArduPlane_Tests/AdvancedFailsafe/flaps.txt b/Tools/autotest/ArduPlane_Tests/AdvancedFailsafe/flaps.txt
new file mode 100644
index 0000000000..93d0726c86
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/AdvancedFailsafe/flaps.txt
@@ -0,0 +1,13 @@
+QGC WPL 110
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+1	0	3	22	15.000000	0.000000	0.000000	0.000000	-35.361279	149.164230	30.000000	1
+2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361229	149.163025	80.000000	1
+3	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364563	149.163773	80.000000	1
+4	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364384	149.164795	80.000000	1
+5	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361027	149.164093	80.000000	1
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+8	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.363136	149.162750	60.000000	1
+9	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365467	149.164215	55.000000	1
+10	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365009	149.165482	39.889999	1
+11	0	3	21	0.000000	0.000000	0.000000	1.000000	-35.363041	149.165222	0.000000	1
diff --git a/Tools/autotest/ArduPlane-Missions/test_arming.txt b/Tools/autotest/ArduPlane_Tests/ArmFeatures/test_arming.txt
similarity index 100%
rename from Tools/autotest/ArduPlane-Missions/test_arming.txt
rename to Tools/autotest/ArduPlane_Tests/ArmFeatures/test_arming.txt
diff --git a/Tools/autotest/ArduPlane_Tests/DO_CHANGE_SPEED/flaps.txt b/Tools/autotest/ArduPlane_Tests/DO_CHANGE_SPEED/flaps.txt
new file mode 100644
index 0000000000..93d0726c86
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/DO_CHANGE_SPEED/flaps.txt
@@ -0,0 +1,13 @@
+QGC WPL 110
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+1	0	3	22	15.000000	0.000000	0.000000	0.000000	-35.361279	149.164230	30.000000	1
+2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361229	149.163025	80.000000	1
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+4	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364384	149.164795	80.000000	1
+5	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361027	149.164093	80.000000	1
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+8	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.363136	149.162750	60.000000	1
+9	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365467	149.164215	55.000000	1
+10	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365009	149.165482	39.889999	1
+11	0	3	21	0.000000	0.000000	0.000000	1.000000	-35.363041	149.165222	0.000000	1
diff --git a/Tools/autotest/ArduPlane_Tests/DO_REPOSITION/flaps.txt b/Tools/autotest/ArduPlane_Tests/DO_REPOSITION/flaps.txt
new file mode 100644
index 0000000000..93d0726c86
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/DO_REPOSITION/flaps.txt
@@ -0,0 +1,13 @@
+QGC WPL 110
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+4	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364384	149.164795	80.000000	1
+5	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361027	149.164093	80.000000	1
+6	0	0	177	2.000000	3.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+7	0	3	189	0.000000	0.000000	0.000000	0.000000	-35.362915	149.162613	60.000000	1
+8	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.363136	149.162750	60.000000	1
+9	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365467	149.164215	55.000000	1
+10	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365009	149.165482	39.889999	1
+11	0	3	21	0.000000	0.000000	0.000000	1.000000	-35.363041	149.165222	0.000000	1
diff --git a/Tools/autotest/ArduPlane_Tests/DeepStall/flaps.txt b/Tools/autotest/ArduPlane_Tests/DeepStall/flaps.txt
new file mode 100644
index 0000000000..93d0726c86
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/DeepStall/flaps.txt
@@ -0,0 +1,13 @@
+QGC WPL 110
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+1	0	3	22	15.000000	0.000000	0.000000	0.000000	-35.361279	149.164230	30.000000	1
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+4	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364384	149.164795	80.000000	1
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+8	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.363136	149.162750	60.000000	1
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+11	0	3	21	0.000000	0.000000	0.000000	1.000000	-35.363041	149.165222	0.000000	1
diff --git a/Tools/autotest/ArduPlane_Tests/DeepStall/plane-deepstall-mission.txt b/Tools/autotest/ArduPlane_Tests/DeepStall/plane-deepstall-mission.txt
new file mode 100644
index 0000000000..f431128d5d
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/DeepStall/plane-deepstall-mission.txt
@@ -0,0 +1,6 @@
+QGC WPL 110
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.363262	149.165237	584.090027	1
+1	0	3	22	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	100.000000	1
+2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.362279	149.164503	100.000000	1
+3	0	3	189	0.000000	0.000000	0.000000	0.000000	-35.362565	149.164358	100.000000	1
+4	0	0	21	630.000000	0.000000	0.000000	1.000000	-35.363556	149.162938	0.000000	1
diff --git a/Tools/autotest/ArduPlane_Tests/DeepStall/plane-deepstall-relative-mission.txt b/Tools/autotest/ArduPlane_Tests/DeepStall/plane-deepstall-relative-mission.txt
new file mode 100644
index 0000000000..120d886bd7
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/DeepStall/plane-deepstall-relative-mission.txt
@@ -0,0 +1,6 @@
+QGC WPL 110
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+1	0	3	22	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	100.000000	1
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+4	0	3	21	0.000000	0.000000	0.000000	1.000000	-35.363556	149.162938	60.000000	1
diff --git a/Tools/autotest/ArduPlane_Tests/FenceRTL/CMAC-fence.txt b/Tools/autotest/ArduPlane_Tests/FenceRTL/CMAC-fence.txt
new file mode 100644
index 0000000000..a6169e4e3c
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/FenceRTL/CMAC-fence.txt
@@ -0,0 +1,6 @@
+-35.363720	149.163651
+-35.358738	149.165070
+-35.359295	149.154434
+-35.372292	149.157135
+-35.368290	149.166809
+-35.358738	149.165070
diff --git a/Tools/autotest/ArduPlane_Tests/FenceRTLRally/CMAC-fence.txt b/Tools/autotest/ArduPlane_Tests/FenceRTLRally/CMAC-fence.txt
new file mode 100644
index 0000000000..a6169e4e3c
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/FenceRTLRally/CMAC-fence.txt
@@ -0,0 +1,6 @@
+-35.363720	149.163651
+-35.358738	149.165070
+-35.359295	149.154434
+-35.372292	149.157135
+-35.368290	149.166809
+-35.358738	149.165070
diff --git a/Tools/autotest/ArduPlane_Tests/FenceStatic/CMAC-fence.txt b/Tools/autotest/ArduPlane_Tests/FenceStatic/CMAC-fence.txt
new file mode 100644
index 0000000000..a6169e4e3c
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/FenceStatic/CMAC-fence.txt
@@ -0,0 +1,6 @@
+-35.363720	149.163651
+-35.358738	149.165070
+-35.359295	149.154434
+-35.372292	149.157135
+-35.368290	149.166809
+-35.358738	149.165070
diff --git a/Tools/autotest/ArduPlane_Tests/GuidedRequest/flaps.txt b/Tools/autotest/ArduPlane_Tests/GuidedRequest/flaps.txt
new file mode 100644
index 0000000000..93d0726c86
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/GuidedRequest/flaps.txt
@@ -0,0 +1,13 @@
+QGC WPL 110
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+8	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.363136	149.162750	60.000000	1
+9	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365467	149.164215	55.000000	1
+10	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365009	149.165482	39.889999	1
+11	0	3	21	0.000000	0.000000	0.000000	1.000000	-35.363041	149.165222	0.000000	1
diff --git a/Tools/autotest/ArduPlane-Missions/quadplane-gyro-mission.txt b/Tools/autotest/ArduPlane_Tests/GyroFFT/quadplane-gyro-mission.txt
similarity index 100%
rename from Tools/autotest/ArduPlane-Missions/quadplane-gyro-mission.txt
rename to Tools/autotest/ArduPlane_Tests/GyroFFT/quadplane-gyro-mission.txt
diff --git a/Tools/autotest/ArduPlane_Tests/LOITER/flaps.txt b/Tools/autotest/ArduPlane_Tests/LOITER/flaps.txt
new file mode 100644
index 0000000000..93d0726c86
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/LOITER/flaps.txt
@@ -0,0 +1,13 @@
+QGC WPL 110
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.363262	149.165237	584.390015	1
+1	0	3	22	15.000000	0.000000	0.000000	0.000000	-35.361279	149.164230	30.000000	1
+2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361229	149.163025	80.000000	1
+3	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364563	149.163773	80.000000	1
+4	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364384	149.164795	80.000000	1
+5	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361027	149.164093	80.000000	1
+6	0	0	177	2.000000	3.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+7	0	3	189	0.000000	0.000000	0.000000	0.000000	-35.362915	149.162613	60.000000	1
+8	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.363136	149.162750	60.000000	1
+9	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365467	149.164215	55.000000	1
+10	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365009	149.165482	39.889999	1
+11	0	3	21	0.000000	0.000000	0.000000	1.000000	-35.363041	149.165222	0.000000	1
diff --git a/Tools/autotest/ArduPlane_Tests/MainFlight/ap1.txt b/Tools/autotest/ArduPlane_Tests/MainFlight/ap1.txt
new file mode 100644
index 0000000000..ddc525cf6e
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/MainFlight/ap1.txt
@@ -0,0 +1,9 @@
+QGC WPL 110
+0	1	0	16	0	0	0	0	-35.362881	149.165222	582.000000	1
+1	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361553	149.163956	100.000000	1
+2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364540	149.162857	100.000000	1
+3	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361721	149.161835	40.000000	1
+4	0	3	178	0.000000	13.00000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+5	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.367970	149.164124	28.000000	1
+6	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.366814	149.165878	28.000000	1
+7	0	3	21	0.000000	0.000000	0.000000	0.000000	-35.362911	149.165222	0.000000	1
diff --git a/Tools/autotest/ArduPlane-Missions/Dalby-OBC2016-fence.txt b/Tools/autotest/ArduPlane_Tests/Mission/Dalby-OBC2016-fence.txt
similarity index 100%
rename from Tools/autotest/ArduPlane-Missions/Dalby-OBC2016-fence.txt
rename to Tools/autotest/ArduPlane_Tests/Mission/Dalby-OBC2016-fence.txt
diff --git a/Tools/autotest/ArduPlane-Missions/Dalby-OBC2016.txt b/Tools/autotest/ArduPlane_Tests/Mission/Dalby-OBC2016.txt
similarity index 100%
rename from Tools/autotest/ArduPlane-Missions/Dalby-OBC2016.txt
rename to Tools/autotest/ArduPlane_Tests/Mission/Dalby-OBC2016.txt
diff --git a/Tools/autotest/ArduPlane_Tests/Parachute/plane-parachute-mission.txt b/Tools/autotest/ArduPlane_Tests/Parachute/plane-parachute-mission.txt
new file mode 100644
index 0000000000..ea2924c2cc
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/Parachute/plane-parachute-mission.txt
@@ -0,0 +1,5 @@
+QGC WPL 110
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.362045	149.165878	584.280029	1
+1	0	3	22	0.000000	0.000000	0.000000	0.000000	-35.362125	149.165039	10.000000	1
+2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364845	149.163452	11.000000	1
+3	0	0      208	2.000000	0.000000	0.000000	0.000000	  0.000000	  0.000000	0.000000	1
diff --git a/Tools/autotest/ArduPlane_Tests/RangeFinder/plane-gripper-mission.txt b/Tools/autotest/ArduPlane_Tests/RangeFinder/plane-gripper-mission.txt
new file mode 100644
index 0000000000..c8f02d1b8d
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/RangeFinder/plane-gripper-mission.txt
@@ -0,0 +1,10 @@
+QGC WPL 110
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.362045	149.165878	584.280029	1
+1	0	3	22	0.000000	0.000000	0.000000	0.000000	-35.362125	149.165039	10.000000	1
+2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364845	149.163452	10.000000	1
+3	0	0	211	0.000000	1.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+4	0	0	211	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+5	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365002	149.165665	10.000000	1
+6	0	3	189	0.000000	0.000000	0.000000	0.000000	-35.364429	149.165558	10.000000	1
+7	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.362869	149.165161	5.000000	1
+8	0	3	21	0.000000	0.000000	0.000000	1.000000	0.000000	0.000000	0.000000	1
diff --git a/Tools/autotest/ArduPlane_Tests/TestFlaps/flaps.txt b/Tools/autotest/ArduPlane_Tests/TestFlaps/flaps.txt
new file mode 100644
index 0000000000..93d0726c86
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/TestFlaps/flaps.txt
@@ -0,0 +1,13 @@
+QGC WPL 110
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.363262	149.165237	584.390015	1
+1	0	3	22	15.000000	0.000000	0.000000	0.000000	-35.361279	149.164230	30.000000	1
+2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361229	149.163025	80.000000	1
+3	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364563	149.163773	80.000000	1
+4	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364384	149.164795	80.000000	1
+5	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361027	149.164093	80.000000	1
+6	0	0	177	2.000000	3.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+7	0	3	189	0.000000	0.000000	0.000000	0.000000	-35.362915	149.162613	60.000000	1
+8	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.363136	149.162750	60.000000	1
+9	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365467	149.164215	55.000000	1
+10	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365009	149.165482	39.889999	1
+11	0	3	21	0.000000	0.000000	0.000000	1.000000	-35.363041	149.165222	0.000000	1
diff --git a/Tools/autotest/ArduPlane_Tests/TestGripperMission/plane-gripper-mission.txt b/Tools/autotest/ArduPlane_Tests/TestGripperMission/plane-gripper-mission.txt
new file mode 100644
index 0000000000..c8f02d1b8d
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/TestGripperMission/plane-gripper-mission.txt
@@ -0,0 +1,10 @@
+QGC WPL 110
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.362045	149.165878	584.280029	1
+1	0	3	22	0.000000	0.000000	0.000000	0.000000	-35.362125	149.165039	10.000000	1
+2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364845	149.163452	10.000000	1
+3	0	0	211	0.000000	1.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+4	0	0	211	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+5	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365002	149.165665	10.000000	1
+6	0	3	189	0.000000	0.000000	0.000000	0.000000	-35.364429	149.165558	10.000000	1
+7	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.362869	149.165161	5.000000	1
+8	0	3	21	0.000000	0.000000	0.000000	1.000000	0.000000	0.000000	0.000000	1
diff --git a/Tools/autotest/ArduPlane_Tests/ThrottleFailsafeFence/CMAC-fence.txt b/Tools/autotest/ArduPlane_Tests/ThrottleFailsafeFence/CMAC-fence.txt
new file mode 100644
index 0000000000..a6169e4e3c
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/ThrottleFailsafeFence/CMAC-fence.txt
@@ -0,0 +1,6 @@
+-35.363720	149.163651
+-35.358738	149.165070
+-35.359295	149.154434
+-35.372292	149.157135
+-35.368290	149.166809
+-35.358738	149.165070
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index a496768852..b9dd7504ff 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -55,6 +55,9 @@ class AutoTestPlane(AutoTest):
     def defaults_filepath(self):
         return os.path.join(testdir, 'default_params/plane-jsbsim.parm')
 
+    def set_current_test_name(self, name):
+        self.current_test_name_directory = "ArduPlane_Tests/" + name + "/"
+
     def default_frame(self):
         return "plane-elevrev"
 
@@ -75,9 +78,6 @@ class AutoTestPlane(AutoTest):
     def set_autodisarm_delay(self, delay):
         self.set_parameter("LAND_DISARMDELAY", delay)
 
-    def arming_test_mission(self):
-        return os.path.join(testdir, "ArduPlane-Missions", "test_arming.txt")
-
     def takeoff(self, alt=150, alt_max=None, relative=True):
         """Takeoff to altitude."""
 
@@ -682,7 +682,7 @@ class AutoTestPlane(AutoTest):
         self.fly_home_land_and_disarm()
 
     def fly_home_land_and_disarm(self, timeout=120):
-        filename = os.path.join(testdir, "flaps.txt")
+        filename = "flaps.txt"
         self.progress("Using %s to fly home" % filename)
         num_wp = self.load_mission(filename)
         self.change_mode("AUTO")
@@ -694,7 +694,7 @@ class AutoTestPlane(AutoTest):
 
     def fly_flaps(self):
         """Test flaps functionality."""
-        filename = os.path.join(testdir, "flaps.txt")
+        filename = "flaps.txt"
         self.context_push()
         ex = None
         try:
@@ -1302,8 +1302,7 @@ class AutoTestPlane(AutoTest):
         self.run_subtest("CIRCLE test", self.fly_CIRCLE)
 
         self.run_subtest("Mission test",
-                         lambda: self.fly_mission(
-                             os.path.join(testdir, "ap1.txt")))
+                         lambda: self.fly_mission("ap1.txt"))
 
     def airspeed_autocal(self):
         self.progress("Ensure no AIRSPEED_AUTOCAL on ground")
@@ -1313,7 +1312,7 @@ class AutoTestPlane(AutoTest):
                                 timeout=5)
         if m is not None:
             raise NotAchievedException("Got autocal on ground")
-        mission_filepath = os.path.join(testdir, "flaps.txt")
+        mission_filepath = "flaps.txt"
         num_wp = self.load_mission(mission_filepath)
         self.wait_ready_to_arm()
         self.arm_vehicle()
diff --git a/Tools/autotest/quadplane.py b/Tools/autotest/quadplane.py
index 84ea69a2bb..451089c733 100644
--- a/Tools/autotest/quadplane.py
+++ b/Tools/autotest/quadplane.py
@@ -17,9 +17,6 @@ import operator
 
 # get location of scripts
 testdir = os.path.dirname(os.path.realpath(__file__))
-MISSION = 'ArduPlane-Missions/Dalby-OBC2016.txt'
-GYRO_MISSION = 'ArduPlane-Missions/quadplane-gyro-mission.txt'
-FENCE = 'ArduPlane-Missions/Dalby-OBC2016-fence.txt'
 WIND = "0,180,0.2"  # speed,direction,variance
 SITL_START_LOCATION = mavutil.location(-27.274439, 151.290064, 343, 8.7)
 
@@ -58,6 +55,9 @@ class AutoTestQuadPlane(AutoTest):
     def log_name(self):
         return "QuadPlane"
 
+    def set_current_test_name(self, name):
+        self.current_test_name_directory = "ArduPlane_Tests/" + name + "/"
+
     def apply_defaultfile_parameters(self):
         # plane passes in a defaults_file in place of applying
         # parameters afterwards.
@@ -190,7 +190,7 @@ class AutoTestQuadPlane(AutoTest):
 
     def fly_home_land_and_disarm(self):
         self.set_parameter("LAND_TYPE", 0)
-        filename = os.path.join(testdir, "flaps.txt")
+        filename = "flaps.txt"
         self.progress("Using %s to fly home" % filename)
         self.load_mission(filename)
         self.change_mode("AUTO")
@@ -364,7 +364,7 @@ class AutoTestQuadPlane(AutoTest):
 
             # Step 4: take off as a copter land as a plane, make sure we track
             self.progress("Flying with gyro FFT - vtol to plane")
-            self.load_mission(os.path.join(testdir, GYRO_MISSION))
+            self.load_mission("quadplane-gyro-mission.txt")
             self.mavproxy.send('wp list\n')
             self.mavproxy.expect('Requesting [0-9]+ waypoints')
             self.wait_ready_to_arm()
@@ -413,9 +413,6 @@ class AutoTestQuadPlane(AutoTest):
 
     def tests(self):
         '''return list of all tests'''
-        m = os.path.join(testdir, "ArduPlane-Missions/Dalby-OBC2016.txt")
-        f = os.path.join(testdir,
-                         "ArduPlane-Missions/Dalby-OBC2016-fence.txt")
 
         ret = super(AutoTestQuadPlane, self).tests()
         ret.extend([
@@ -426,7 +423,7 @@ class AutoTestQuadPlane(AutoTest):
              self.test_parameter_checks),
 
             ("Mission", "Dalby Mission",
-             lambda: self.fly_mission(m, f)),
+             lambda: self.fly_mission("Dalby-OBC2016.txt", "Dalby-OBC2016-fence.txt")),
 
             ("GyroFFT", "Fly Gyro FFT",
              self.fly_gyro_fft)