diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index be42b803e7..f03f950cc9 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -2794,7 +2794,7 @@ class AutoTestCopter(AutoTest):
         if ex is not None:
             raise ex
 
-    def test_arm_feature(self):
+    def loiter_requires_position(self):
         # ensure we can't switch to LOITER without position
         self.progress("Ensure we can't enter LOITER without position")
         self.context_push()
@@ -2808,6 +2808,9 @@ class AutoTestCopter(AutoTest):
         self.context_pop()
         self.reboot_sitl()
 
+    def test_arm_feature(self):
+        self.loiter_requires_position()
+
         super(AutoTestCopter, self).test_arm_feature()
 
     def test_parameter_checks(self):
@@ -3038,6 +3041,9 @@ class AutoTestHeli(AutoTestCopter):
         ret[3] = 1000 # collective
         return ret
 
+    def loiter_requires_position(self):
+        self.progress("Skipping loiter-requires-position for heli; rotor runup issues")
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestCopter, self).tests()