diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index d1d7abfb1b..70c469a2c1 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -74,7 +74,7 @@ def takeoff(mavproxy, mav, alt_min = 30, takeoff_throttle=1700):
     return True
 
 # loiter - fly south west, then hold loiter within 5m position and altitude
-def loiter(mavproxy, mav, holdtime=15, maxaltchange=5, maxdistchange=5):
+def loiter(mavproxy, mav, holdtime=10, maxaltchange=5, maxdistchange=5):
     '''hold loiter position'''
     mavproxy.send('switch 5\n') # loiter mode
     wait_mode(mav, 'LOITER')
@@ -572,8 +572,8 @@ def fly_gps_glitch_auto_test(mavproxy, mav, timeout=30, max_distance=100):
     # record position for 30 seconds
     while glitch_current < glitch_num:
         time_in_sec = int(time.time() - tstart);
-        if time_in_sec > glitch_current and glitch_current != -1:
-            glitch_current = time_in_sec
+        if (time_in_sec * 2) > glitch_current and glitch_current != -1:
+            glitch_current = (time_in_sec * 2)
             # apply next glitch
             if glitch_current < glitch_num:
                 mavproxy.send('param set SIM_GPS_GLITCH_X %.7f\n' % glitch_lat[glitch_current])
@@ -584,7 +584,17 @@ def fly_gps_glitch_auto_test(mavproxy, mav, timeout=30, max_distance=100):
     mavproxy.send('param set SIM_GPS_GLITCH_Y 0\n')
 
     # continue with the mission
-    ret = wait_waypoint(mav, 0, num_wp, timeout=500, mode='AUTO')
+    ret = wait_waypoint(mav, 0, num_wp-1, timeout=500, mode='AUTO')
+
+    # wait for arrival back home
+    m = mav.recv_match(type='VFR_HUD', blocking=True)
+    pos = mav.location()
+    dist_to_home = get_distance(HOME, pos)
+    while dist_to_home > 5:
+        m = mav.recv_match(type='VFR_HUD', blocking=True)
+        pos = mav.location()
+        dist_to_home = get_distance(HOME, pos)
+        print("Dist from home: %u" % dist_to_home)
 
     # turn off simulator display of gps and actual position
     show_gps_and_sim_positions(mavproxy, False)
@@ -740,6 +750,45 @@ def fly_circle(mavproxy, mav, maxaltchange=10, holdtime=36):
     print("CIRCLE OK for %u seconds" % holdtime)
     return True
 
+# fly_auto_test - fly mission which tests a significant number of commands
+def fly_auto_test(mavproxy, mav):
+
+    # Fly mission #1
+    print("# Upload copter_glitch_mission")
+    if not upload_mission_from_file(mavproxy, mav, os.path.join(testdir, "copter_mission.txt")):
+        print("upload copter_mission.txt failed")
+        return False
+
+    # this grabs our mission count
+    if not load_mission_from_file(mavproxy, mav, os.path.join(testdir, "copter_mission.txt")):
+        print("load copter_mission failed")
+        return False
+
+    # load the waypoint count
+    global homeloc
+    global num_wp
+    print("test: Fly a mission from 1 to %u" % num_wp)
+    mavproxy.send('wp set 1\n')
+
+    # switch into AUTO mode and raise throttle
+    mavproxy.send('switch 4\n') # auto mode
+    wait_mode(mav, 'AUTO')
+    mavproxy.send('rc 3 1500\n')
+
+    # fly the mission
+    ret = wait_waypoint(mav, 0, num_wp-1, timeout=500, mode='AUTO')
+
+    # set throttle to minimum
+    mavproxy.send('rc 3 1000\n')
+
+    # wait for disarm
+    mav.motors_disarmed_wait()
+    print("MOTORS DISARMED OK")
+
+    print("Auto mission completed: passed=%s" % ret)
+
+    return ret
+
 def land(mavproxy, mav, timeout=60):
     '''land the quad'''
     print("STARTING LANDING")
@@ -1005,9 +1054,9 @@ def fly_ArduCopter(viewerip=None, map=False):
             print("takeoff failed")
             failed = True
 
-        # Loiter for 15 seconds
+        # Loiter for 10 seconds
         print("#")
-        print("########## Test Loiter for 15 seconds ##########")
+        print("########## Test Loiter for 10 seconds ##########")
         print("#")
         if not loiter(mavproxy, mav):
             print("loiter failed")
@@ -1015,9 +1064,9 @@ def fly_ArduCopter(viewerip=None, map=False):
 
         # Loiter Climb
         print("#")
-        print("# Loiter - climb to 40m")
+        print("# Loiter - climb to 30m")
         print("#")
-        if not change_alt(mavproxy, mav, 40):
+        if not change_alt(mavproxy, mav, 30):
             print("change_alt failed")
             failed = True
 
@@ -1099,30 +1148,12 @@ def fly_ArduCopter(viewerip=None, map=False):
             print("RTL failed")
             failed = True
 
-        # Fly mission #1
-        print("# Upload copter_mission")
-        if not upload_mission_from_file(mavproxy, mav, os.path.join(testdir, "copter_mission.txt")):
-            print("upload_mission_from_file failed")
-            failed = True
-
-        # this grabs our mission count
-        print("# store copter_mission locally")
-        if not load_mission_from_file(mavproxy, mav, os.path.join(testdir, "copter_mission.txt")):
-            print("load_mission_from_file failed")
-            failed = True
-
-        print("# Fly mission 1")
-        if not fly_mission(mavproxy, mav,height_accuracy = 0.5, target_altitude=10):
+        print("# Fly copter mission")
+        if not fly_auto_test(mavproxy, mav):
             print("fly_mission failed")
             failed = True
         else:
-            print("Flew mission 1 OK")
-
-        #mission includes LAND at end so should be ok to disamr
-        print("# disarm motors")
-        if not disarm_motors(mavproxy, mav):
-            print("disarm_motors failed")
-            failed = True
+            print("Flew copter mission OK")
 
         if not log_download(mavproxy, mav, util.reltopdir("../buildlogs/ArduCopter-log.bin")):
             print("Failed log download")