diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 54a20429d4..2bcef0763b 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -2520,13 +2520,14 @@ class AutoTestCopter(AutoTest):
             while True:
                 if self.get_sim_time_cached() - tstart > 200:
                     raise NotAchievedException("Did not disarm")
-                self.mav.recv_match(type='GLOBAL_POSITION_INT',
-                                    blocking=True)
+                # self.mav.recv_match(type='GLOBAL_POSITION_INT',
+                # blocking=True)
                 # print("gpi=%s" % str(gpi))
-                self.mav.recv_match(type='SIMSTATE',
-                                    blocking=True)
+                # self.mav.recv_match(type='SIM_STATE',
+                #                    blocking=True)
                 # print("ss=%s" % str(ss))
                 # wait for RTL disarm:
+                self.wait_heartbeat()
                 if not self.armed():
                     break
 
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index f4edcc7222..811dfe1b16 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -1461,13 +1461,13 @@ class AutoTestPlane(AutoTest):
 
         # these are ordered to bookend the list with timestamps (which
         # both attitude messages have):
-        get_names = ['ATTITUDE', 'SIMSTATE', 'AHRS2', 'ATTITUDE_QUATERNION']
+        get_names = ['ATTITUDE', 'SIM_STATE', 'AHRS2', 'ATTITUDE_QUATERNION']
         msgs = self.get_messages_frame(get_names)
 
         for get_name in get_names:
             self.progress("%s: %s" % (get_name, msgs[get_name]))
 
-        simstate = msgs['SIMSTATE']
+        simstate = msgs['SIM_STATE']
         attitude = msgs['ATTITUDE']
         ahrs2 = msgs['AHRS2']
         attitude_quaternion = msgs['ATTITUDE_QUATERNION']
@@ -1612,7 +1612,7 @@ class AutoTestPlane(AutoTest):
         def validate_global_position_int_against_simstate(mav, m):
             if m.get_type() == 'GLOBAL_POSITION_INT':
                 self.gpi = m
-            elif m.get_type() == 'SIMSTATE':
+            elif m.get_type() == 'SIM_STATE':
                 self.simstate = m
             if self.gpi is None:
                 return
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index 5860f1b320..aa653bdcae 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -2713,18 +2713,18 @@ class AutoTest(ABC):
 
     def sim_location(self):
         """Return current simulator location."""
-        m = self.mav.recv_match(type='SIMSTATE', blocking=True)
+        m = self.poll_message('SIM_STATE')
         return mavutil.location(m.lat*1.0e-7,
-                                m.lng*1.0e-7,
-                                0,
+                                m.lon*1.0e-7,
+                                m.alt,
                                 math.degrees(m.yaw))
 
     def sim_location_int(self):
         """Return current simulator location."""
-        m = self.mav.recv_match(type='SIMSTATE', blocking=True)
+        m = self.poll_message('SIM_STATE')
         return mavutil.location(m.lat,
-                                m.lng,
-                                0,
+                                m.lon,
+                                m.alt,
                                 math.degrees(m.yaw))
 
     def save_wp(self, ch=7):
@@ -7194,10 +7194,8 @@ Also, ignores heartbeats not from our target system'''
             # wait until we definitely know where we are:
             self.poll_home_position(timeout=120)
 
-            ss = self.mav.recv_match(type='SIMSTATE', blocking=True, timeout=1)
-            if ss is None:
-                raise NotAchievedException("Did not get SIMSTATE")
-            self.progress("Got SIMSTATE (%s)" % str(ss))
+            ss = self.poll_message("SIM_STATE")
+            self.progress("Got SIM_STATE (%s)" % str(ss))
 
             self.run_cmd(mavutil.mavlink.MAV_CMD_FIXED_MAG_CAL_YAW,
                          math.degrees(ss.yaw), # param1