diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index a86d6d78b8..d3adcdfaa3 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -20,6 +20,7 @@ from common import AutoTestTimeoutException
 from common import NotAchievedException
 from common import PreconditionFailedException
 from common import WaitModeTimeout
+from common import OldpymavlinkException
 from pymavlink.rotmat import Vector3
 from pysim import vehicleinfo
 
@@ -582,7 +583,7 @@ class AutoTestPlane(AutoTest):
     def ExternalPositionEstimate(self):
         '''Test mavlink EXTERNAL_POSITION_ESTIMATE command'''
         if not hasattr(mavutil.mavlink, 'MAV_CMD_EXTERNAL_POSITION_ESTIMATE'):
-            return
+            raise OldpymavlinkException("pymavlink too old; upgrade pymavlink to get MAV_CMD_EXTERNAL_POSITION_ESTIMATE")  # noqa
         self.change_mode("TAKEOFF")
         self.wait_ready_to_arm()
         self.arm_vehicle()
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index aaca4ab151..ddbe425038 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -168,6 +168,11 @@ class NotAchievedException(ErrorException):
     pass
 
 
+class OldpymavlinkException(ErrorException):
+    """Thrown when a new feature is required from pymavlink"""
+    pass
+
+
 class YawSpeedNotAchievedException(NotAchievedException):
     """Thrown when fails to achieve given yaw speed."""
     pass