diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 54fe5e86a5..d7c4f50bea 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -3182,6 +3182,10 @@ class AutoTestPlane(AutoTest):
              "Test RC DisableAirspeedUse option",
              self.RCDisableAirspeedUse),
 
+            ("AHRS_ORIENTATION",
+             "Test AHRS_ORIENTATION parameter",
+             self.AHRS_ORIENTATION),
+
             ("LogUpload",
              "Log upload",
              self.log_upload),
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index 3eeaa13bbf..a324c2c469 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -3122,8 +3122,10 @@ class AutoTest(ABC):
                 raise ValueError("count %u not handled" % count)
         self.progress("Files same")
 
-    def assert_receive_message(self, type, timeout=1):
+    def assert_receive_message(self, type, timeout=1, verbose=False):
         m = self.mav.recv_match(type=type, blocking=True, timeout=timeout)
+        if verbose:
+            self.progress("Received (%s)" % str(m))
         if m is None:
             raise NotAchievedException("Did not get %s" % type)
         return m
@@ -10389,6 +10391,25 @@ switch value'''
         if ex is not None:
             raise ex
 
+    def AHRS_ORIENTATION(self):
+        '''test AHRS_ORIENTATION parameter works'''
+        self.context_push()
+        self.wait_ready_to_arm()
+        original_imu = self.assert_receive_message("RAW_IMU", verbose=True)
+        self.set_parameter("AHRS_ORIENTATION", 16)  # roll-90
+        self.delay_sim_time(2)  # we update this on a timer
+        new_imu = self.assert_receive_message("RAW_IMU", verbose=True)
+        delta_zacc = original_imu.zacc - new_imu.zacc
+        delta_z_g = delta_zacc/1000.0  # milligravities -> gravities
+        if delta_z_g - 1 > 0.1:  # milligravities....
+            raise NotAchievedException("Magic AHRS_ORIENTATION update did not work (delta_z_g=%f)" % (delta_z_g,))
+        delta_yacc = original_imu.yacc - new_imu.yacc
+        delta_y_g = delta_yacc/1000.0  # milligravities -> gravities
+        if delta_y_g + 1 > 0.1:
+            raise NotAchievedException("Magic AHRS_ORIENTATION update did not work (delta_y_g=%f)" % (delta_y_g,))
+        self.context_pop()
+        self.delay_sim_time(2)  # we update orientation on a timer
+
     def tests(self):
         return [
             Test("PIDTuning",