diff --git a/Tools/autotest/ArduPlane_Tests/FlyEachFrame/basic-quadplane.txt b/Tools/autotest/ArduPlane_Tests/FlyEachFrame/basic-quadplane.txt
new file mode 100644
index 0000000000..d4ec44c2e0
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/FlyEachFrame/basic-quadplane.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	84	0.000000	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	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	-35.362915	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	85	0.000000	0.000000	0.000000	1.000000	-35.363041	149.165222	0.000000	1
diff --git a/Tools/autotest/ArduPlane_Tests/FlyEachFrame/basic.txt b/Tools/autotest/ArduPlane_Tests/FlyEachFrame/basic.txt
new file mode 100644
index 0000000000..b6a88b10c2
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/FlyEachFrame/basic.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	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	-35.362915	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 5f3476f610..b873a678cd 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 pymavlink.rotmat import Vector3
+from pysim import vehicleinfo
 
 import operator
 
@@ -522,7 +523,7 @@ class AutoTestPlane(AutoTest):
 
         return self.wait_level_flight()
 
-    def fly_mission(self, filename, mission_timeout=60.0, strict=True):
+    def fly_mission(self, filename, mission_timeout=60.0, strict=True, quadplane=False):
         """Fly a mission from a file."""
         self.progress("Flying mission %s" % filename)
         num_wp = self.load_mission(filename, strict=strict)-1
@@ -530,7 +531,10 @@ class AutoTestPlane(AutoTest):
         self.change_mode('AUTO')
         self.wait_waypoint(1, num_wp, max_dist=60)
         self.wait_groundspeed(0, 0.5, timeout=mission_timeout)
-        self.wait_statustext("Auto disarmed", timeout=60)
+        if quadplane:
+            self.wait_statustext("Throttle disarmed", timeout=60)
+        else:
+            self.wait_statustext("Auto disarmed", timeout=60)
         self.progress("Mission OK")
 
     def fly_do_reposition(self):
@@ -2880,6 +2884,49 @@ class AutoTestPlane(AutoTest):
             want_result=mavutil.mavlink.MAV_RESULT_DENIED
         )
 
+    def fly_each_frame(self):
+        vinfo = vehicleinfo.VehicleInfo()
+        vinfo_options = vinfo.options[self.vehicleinfo_key()]
+        known_broken_frames = {
+            "firefly": "falls out of sky after transition",
+            "plane-tailsitter": "does not take off; immediately emits 'AP: Transition VTOL done' while on ground",
+            "quadplane-cl84": "falls out of sky instead of transitioning",
+            "quadplane-tilttri": "falls out of sky instead of transitioning",
+            "quadplane-tilttrivec": "loses attitude control and crashes",
+        }
+        for frame in sorted(vinfo_options["frames"].keys()):
+            self.start_subtest("Testing frame (%s)" % str(frame))
+            if frame in known_broken_frames:
+                self.progress("Actually, no I'm not - it is known-broken (%s)" %
+                              (known_broken_frames[frame]))
+                continue
+            frame_bits = vinfo_options["frames"][frame]
+            print("frame_bits: %s" % str(frame_bits))
+            if frame_bits.get("external", False):
+                self.progress("Actually, no I'm not - it is an external simulation")
+                continue
+            model = frame_bits.get("model", frame)
+            # the model string for Callisto has crap in it.... we
+            # should really have another entry in the vehicleinfo data
+            # to carry the path to the JSON.
+            actual_model = model.split(":")[0]
+            defaults = self.model_defaults_filepath(actual_model)
+            if type(defaults) != list:
+                defaults = [defaults]
+            self.customise_SITL_commandline(
+                ["--defaults", ','.join(defaults), ],
+                model=model,
+                wipe=True,
+            )
+            mission_file = "basic.txt"
+            quadplane = self.get_parameter('Q_ENABLE')
+            if quadplane:
+                mission_file = "basic-quadplane.txt"
+            self.wait_ready_to_arm()
+            self.arm_vehicle()
+            self.fly_mission(mission_file, strict=False, quadplane=quadplane)
+            self.wait_disarmed()
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestPlane, self).tests()
@@ -3069,6 +3116,10 @@ class AutoTestPlane(AutoTest):
              "Test smart battery logging etc",
              self.SmartBattery),
 
+            ("FlyEachFrame",
+             "Fly each supported internal frame",
+             self.fly_each_frame),
+
             ("LogUpload",
              "Log upload",
              self.log_upload),
diff --git a/Tools/autotest/pysim/vehicleinfo.py b/Tools/autotest/pysim/vehicleinfo.py
index 4ecba30690..87e9330f74 100644
--- a/Tools/autotest/pysim/vehicleinfo.py
+++ b/Tools/autotest/pysim/vehicleinfo.py
@@ -269,23 +269,31 @@ class VehicleInfo(object):
             "gazebo-zephyr": {
                 "waf_target": "bin/arduplane",
                 "default_params_filename": "default_params/gazebo-zephyr.parm",
+                "external": True,
             },
             "last_letter": {
                 "waf_target": "bin/arduplane",
+                "default_params_filename": "default_params/plane.parm",
+                "external": True,
             },
             "CRRCSim": {
                 "waf_target": "bin/arduplane",
+                "default_params_filename": "default_params/plane.parm",
+                "external": True,
             },
             "jsbsim": {
                 "waf_target": "bin/arduplane",
                 "default_params_filename": "default_params/plane-jsbsim.parm",
+                "external": True,
             },
             "scrimmage-plane" : {
                 "waf_target": "bin/arduplane",
                 "default_params_filename": "default_params/plane.parm",
+                "external": True,
             },
             "calibration": {
                 "extra_mavlink_cmds": "module load sitl_calibration;",
+                "external": True,  # lies!  OTOH, hard to take off with this
             },
         },
     },