diff --git a/Tools/autotest/ArduPlane_Tests/DeadreckoningNoAirSpeed/flaps.txt b/Tools/autotest/ArduPlane_Tests/DeadreckoningNoAirSpeed/flaps.txt
new file mode 100644
index 0000000000..93d0726c86
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/DeadreckoningNoAirSpeed/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.py b/Tools/autotest/arduplane.py
index 4b6c14e221..c9f35ae6a4 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -1537,13 +1537,16 @@ class AutoTestPlane(AutoTest):
                 return
             divergence = self.get_distance_int(self.gpi, self.simstate)
             max_allowed_divergence = 200
-            if time.time() - self.last_print > 1:
+            if (time.time() - self.last_print > 1 or
+                    divergence > self.max_divergence):
                 self.progress("position-estimate-divergence=%fm" % (divergence,))
                 self.last_print = time.time()
-            if divergence > max_allowed_divergence:
-                raise NotAchievedException("global-position-int diverged from simstate by >%fm" % (max_allowed_divergence,))
             if divergence > self.max_divergence:
                 self.max_divergence = divergence
+            if divergence > max_allowed_divergence:
+                raise NotAchievedException(
+                    "global-position-int diverged from simstate by %fm (max=%fm" %
+                    (divergence, max_allowed_divergence,))
 
         self.install_message_hook(validate_global_position_int_against_simstate)
 
@@ -1557,8 +1560,7 @@ class AutoTestPlane(AutoTest):
 
             self.takeoff(50)
             loc = self.mav.location()
-            loc.lat = -35.35690712
-            loc.lng = 149.17083386
+            self.location_offset_ne(loc, 500, 500)
             self.run_cmd_int(
                 mavutil.mavlink.MAV_CMD_DO_REPOSITION,
                 0,
@@ -1588,6 +1590,8 @@ class AutoTestPlane(AutoTest):
 
     def deadreckoning(self):
         self.deadreckoning_main()
+
+    def deadreckoning_no_airspeed_sensor(self):
         self.deadreckoning_main(disable_airspeed_sensor=True)
 
     def rtl_climb_min(self):
@@ -2785,6 +2789,10 @@ class AutoTestPlane(AutoTest):
              "Test deadreckoning support",
              self.deadreckoning),
 
+            ("DeadreckoningNoAirSpeed",
+             "Test deadreckoning support with no airspeed sensor",
+             self.deadreckoning_no_airspeed_sensor),
+
             ("EKFlaneswitch",
              "Test EKF3 Affinity and Lane Switching",
              self.ekf_lane_switch),