diff --git a/Tools/autotest/autotest.py b/Tools/autotest/autotest.py
index a2e16f9acc..55d2dc9a54 100755
--- a/Tools/autotest/autotest.py
+++ b/Tools/autotest/autotest.py
@@ -609,17 +609,37 @@ def run_tests(steps):
 
     return passed
 
-def list_subtests(*args, **kwargs):
-    for vehicle in sorted(['Sub', 'Copter', 'Plane', 'Tracker', 'Rover', 'QuadPlane', 'BalanceBot', 'Helicopter']):
+
+vehicle_list = ['Sub', 'Copter', 'Plane', 'Tracker', 'Rover', 'QuadPlane', 'BalanceBot', 'Helicopter']
+
+
+def list_subtests():
+    """Print the list of tests and tests description for each vehicle."""
+    for vehicle in sorted(vehicle_list):
         tester_class = tester_class_map["test.%s" % vehicle]
         tester = tester_class("/bin/true", None)
         subtests = tester.tests()
         print("%s:" % vehicle)
-        for subtest in sorted(subtests, key=lambda x : x[0]):
+        for subtest in sorted(subtests, key=lambda x: x[0]):
             (name, description, function) = subtest
             print("    %s: %s" % (name, description))
         print("")
 
+
+def list_subtests_for_vehicle(vehicle_type):
+    """Print the list of tests for a vehicle."""
+    # Check that we aren't in a sub test
+    if "Test" in vehicle_type:
+        vehicle_type = re.findall('[A-Z][a-z0-9]*', vehicle_type)[0]
+    if vehicle_type in vehicle_list:
+        tester_class = tester_class_map["test.%s" % vehicle_type]
+        tester = tester_class("/bin/true", None)
+        subtests = tester.tests()
+        for subtest in sorted(subtests, key=lambda x: x[0]):
+            (name, _, _) = subtest
+            print("%s " % name, end='')
+        print("")  # needed to clear the trailing %
+
 if __name__ == "__main__":
     ''' main program '''
     os.environ['PYTHONUNBUFFERED'] = '1'
@@ -744,6 +764,21 @@ if __name__ == "__main__":
                          help="force a specific AHRS type (e.g. 10 for SITL-ekf")
     parser.add_option_group(group_sim)
 
+    group_completion = optparse.OptionGroup(parser, "Completion helpers")
+    group_completion.add_option("--list-vehicles",
+                                action='store_true',
+                                default=False,
+                                help='list available vehicles')
+    group_completion.add_option("--list-vehicles-test",
+                                action='store_true',
+                                default=False,
+                                help='list available vehicle tester')
+    group_completion.add_option("--list-subtests-for-vehicle",
+                                type='string',
+                                default="",
+                                 help='list available subtests for a vehicle e.g Copter')
+    parser.add_option_group(group_completion)
+
     opts, args = parser.parse_args()
 
     steps = [
@@ -842,6 +877,18 @@ if __name__ == "__main__":
         list_subtests()
         sys.exit(0)
 
+    if opts.list_subtests_for_vehicle:
+        list_subtests_for_vehicle(opts.list_subtests_for_vehicle)
+        sys.exit(0)
+
+    if opts.list_vehicles_test:
+        print(' '.join(__bin_names.keys()))
+        sys.exit(0)
+
+    if opts.list_vehicles:
+        print(' '.join(vehicle_list))
+        sys.exit(0)
+
     util.mkdir_p(buildlogs_dirpath())
 
     lckfile = buildlogs_path('autotest.lck')