diff --git a/Tools/mavproxy_modules/sitl_calibration.py b/Tools/mavproxy_modules/sitl_calibration.py
index ebc0c24894..db163b5ae5 100644
--- a/Tools/mavproxy_modules/sitl_calibration.py
+++ b/Tools/mavproxy_modules/sitl_calibration.py
@@ -98,6 +98,9 @@ class CalController(object):
 
         self.general_state = 'angvel'
 
+    def autonomous_magcal(self):
+        self.mpstate.functions.process_stdin('servo set 5 1250')
+
     def handle_simstate(self, m):
         if self.general_state == 'attitude':
             q = quaternion.Quaternion((m.roll, m.pitch, m.yaw))
@@ -362,6 +365,13 @@ class SitlCalibrationModule(mp_module.MPModule):
             self.cmd_sitl_magcal,
             'actuate on the simulator vehicle for magnetometer calibration',
         )
+        self.add_command(
+            'sitl_autonomous_magcal',
+            self.cmd_sitl_autonomous_magcal,
+            'let the simulating program do the rotations for magnetometer ' +
+            'calibration - basically, continuous rotations over six ' +
+            'calibration poses',
+        )
         self.add_command(
             'sitl_stop',
             self.cmd_sitl_stop,
@@ -427,6 +437,10 @@ class SitlCalibrationModule(mp_module.MPModule):
     def cmd_sitl_magcal(self, args):
         self.set_controller('magcal_controller')
 
+    def cmd_sitl_autonomous_magcal(self, args):
+        self.set_controller('generic_controller')
+        self.current_controller.autonomous_magcal()
+
     def mavlink_packet(self, m):
         for c in self.controllers.values():
             c.mavlink_packet(m)