diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 7197ecdd41..fd8d34288c 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -9577,6 +9577,29 @@ class AutoTestCopter(AutoTest):
         ])
         return ret
 
+    def ScriptMountPOI(self):
+        '''test the MountPOI example script'''
+        self.context_push()
+
+        self.install_terrain_handlers_context()
+        self.set_parameters({
+            "SCR_ENABLE": 1,
+            "RC12_OPTION": 300,
+        })
+        self.setup_servo_mount()
+        self.reboot_sitl()
+        self.set_rc(6, 1300)
+        self.install_example_script_context('mount-poi.lua')
+        self.reboot_sitl()
+        self.wait_ready_to_arm()
+        self.context_collect('STATUSTEXT')
+        self.set_rc(12, 2000)
+        self.wait_statustext('POI.*-35.*149', check_context=True, regex=True)
+        self.set_rc(12, 1000)
+
+        self.context_pop()
+        self.reboot_sitl()
+
     def tests2b(self):  # this block currently around 9.5mins here
         '''return list of all tests'''
         ret = ([
@@ -9627,6 +9650,7 @@ class AutoTestCopter(AutoTest):
             self.EK3_RNG_USE_HGT,
             self.TerrainDBPreArm,
             self.ThrottleGainBoost,
+            self.ScriptMountPOI,
         ])
         return ret