diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index ad30751adc..6d37a3d101 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -5768,6 +5768,83 @@ class AutoTestCopter(AutoTest):
         if ex is not None:
             raise ex
 
+    def ProximitySensors(self):
+        '''ensure proximity sensors return appropriate data'''
+
+        self.set_parameters({
+            "SERIAL5_PROTOCOL": 11,
+            "OA_DB_OUTPUT": 3,
+            "OA_TYPE": 2,
+        })
+        sensors = [  # tuples of name, prx_type
+            ('sf45b', 8, {
+                mavutil.mavlink.MAV_SENSOR_ROTATION_NONE: 292,
+                mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_45: 257,
+                mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_90: 1130,
+                mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_135: 1283,
+                mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_180: 627,
+                mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_225: 967,
+                mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_270: 760,
+                mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_315: 762,
+            }),
+            ('rplidara2', 5, {
+                mavutil.mavlink.MAV_SENSOR_ROTATION_NONE: 277,
+                mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_45: 256,
+                mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_90: 1130,
+                mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_135: 1288,
+                mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_180: 626,
+                mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_225: 970,
+                mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_270: 762,
+                mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_315: 790,
+            }),
+            ('terarangertower', 3, {
+                mavutil.mavlink.MAV_SENSOR_ROTATION_NONE: 450,
+                mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_45: 282,
+                mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_90: 450,
+                mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_135: 450,
+                mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_180: 450,
+                mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_225: 450,
+                mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_270: 450,
+                mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_315: 450,
+            }),
+        ]
+
+        # the following is a "magic" location SITL understands which
+        # has some posts near it:
+        home_string = "%s,%s,%s,%s" % (51.8752066, 14.6487840, 54.15, 0)
+        for (name, prx_type, expected_distances) in sensors:
+            self.start_subtest("Testing %s" % name)
+            self.set_parameter("PRX_TYPE", prx_type)
+            self.customise_SITL_commandline([
+                "--uartF=sim:%s:" % name,
+                "--home", home_string,
+            ])
+            self.wait_ready_to_arm()
+            expected_distances_copy = copy.copy(expected_distances)
+            tstart = self.get_sim_time()
+            failed = False
+            wants = []
+            gots = []
+            while True:
+                if self.get_sim_time_cached() - tstart > 30:
+                    raise AutoTestTimeoutException("Failed to get distances")
+                if len(expected_distances_copy.keys()) == 0:
+                    break
+                m = self.assert_receive_message("DISTANCE_SENSOR")
+                if m.orientation not in expected_distances_copy:
+                    continue
+                got = m.current_distance
+                want = expected_distances_copy[m.orientation]
+                wants.append(want)
+                gots.append(got)
+                if abs(want - got) > 5:
+                    failed = True
+                del expected_distances_copy[m.orientation]
+            if failed:
+                raise NotAchievedException(
+                    "Distance too great (%s) (want=%s != got=%s)" %
+                    (name, wants, gots))
+
     def fly_proximity_avoidance_test_alt_no_avoid(self):
         self.start_subtest("Alt-no-avoid")
         self.context_push()
@@ -8453,6 +8530,10 @@ class AutoTestCopter(AutoTest):
                  "Test FETtecESC",
                  self.FETtecESC),
 
+            Test("ProximitySensors",
+                 "Test Proximity Sensors",
+                 self.ProximitySensors),
+
             Test("GroundEffectCompensation_touchDownExpected",
                  "Test EKF's handling of touchdown-expected",
                  self.GroundEffectCompensation_touchDownExpected),