diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
index 42aefb375a..2f393ee73c 100644
--- a/Tools/autotest/rover.py
+++ b/Tools/autotest/rover.py
@@ -3642,6 +3642,48 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
                 if delta < max_delta:
                     self.progress("Reached destination")
 
+    def drive_to_location(self, loc, tolerance=1, timeout=30, target_system=1, target_component=1):
+        self.assert_mode('GUIDED')
+
+        type_mask = (mavutil.mavlink.POSITION_TARGET_TYPEMASK_VX_IGNORE +
+                     mavutil.mavlink.POSITION_TARGET_TYPEMASK_VY_IGNORE +
+                     mavutil.mavlink.POSITION_TARGET_TYPEMASK_VZ_IGNORE +
+                     mavutil.mavlink.POSITION_TARGET_TYPEMASK_AX_IGNORE +
+                     mavutil.mavlink.POSITION_TARGET_TYPEMASK_AY_IGNORE +
+                     mavutil.mavlink.POSITION_TARGET_TYPEMASK_AZ_IGNORE +
+                     mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_IGNORE +
+                     mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE)
+
+        last_sent = 0
+        tstart = self.get_sim_time()
+        while True:
+            now = self.get_sim_time_cached()
+            if now - tstart > timeout:
+                raise NotAchievedException("Did not get to location")
+            if now - last_sent > 10:
+                last_sent = now
+                self.mav.mav.set_position_target_global_int_send(
+                    0,
+                    target_system,
+                    target_component,
+                    mavutil.mavlink.MAV_FRAME_GLOBAL_INT,
+                    type_mask,
+                    int(loc.lat * 1.0e7),
+                    int(loc.lng * 1.0e7),
+                    0, # alt
+                    0, # x-ve
+                    0, # y-vel
+                    0, # z-vel
+                    0, # afx
+                    0, # afy
+                    0, # afz
+                    0, # yaw,
+                    0, # yaw-rate
+                )
+            if self.get_distance(self.mav.location(), loc) > tolerance:
+                continue
+            return
+
     def drive_somewhere_breach_boundary_and_rtl(self, loc, target_system=1, target_component=1, timeout=60):
         tstart = self.get_sim_time()
         last_sent = 0