diff --git a/Tools/autotest/ArduPlane_Tests/MAV_CMD_DO_GO_AROUND/mission.txt b/Tools/autotest/ArduPlane_Tests/MAV_CMD_DO_GO_AROUND/mission.txt
new file mode 100644
index 0000000000..41e2938f9c
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/MAV_CMD_DO_GO_AROUND/mission.txt
@@ -0,0 +1,8 @@
+QGC WPL 110
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.363262	149.165238	584.089966	1
+1	0	3	22	0.000000	0.000000	0.000000	0.000000	-35.361438	149.165031	50.000000	1
+2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361505	149.163723	50.000000	1
+3	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365845	149.164175	52.219997	1
+4	0	3	189	0.000000	0.000000	0.000000	0.000000	-35.368656	149.165976	54.410000	1
+5	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.366148	149.165741	50.849998	1
+6	0	3	21	0.000000	0.000000	0.000000	1.000000	-35.362920	149.165127	50.000000	1
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index dd118eacbd..17a4c22fdb 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -4909,6 +4909,23 @@ class AutoTestPlane(AutoTest):
             self.disarm_vehicle()
             self.reboot_sitl()
 
+    def _MAV_CMD_DO_GO_AROUND(self, command):
+        self.load_mission("mission.txt")
+        self.set_parameter("RTL_AUTOLAND", 3)
+        self.change_mode('AUTO')
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+        self.wait_current_waypoint(6)
+        command(mavutil.mavlink.MAV_CMD_DO_GO_AROUND, p1=150)
+        self.wait_current_waypoint(5)
+        self.wait_altitude(135, 165, relative=True)
+        self.wait_disarmed(timeout=300)
+
+    def MAV_CMD_DO_GO_AROUND(self):
+        '''test MAV_CMD_DO_GO_AROUND as a mavlink command'''
+        self._MAV_CMD_DO_GO_AROUND(self.run_cmd)
+        self._MAV_CMD_DO_GO_AROUND(self.run_cmd_int)
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestPlane, self).tests()
@@ -5004,6 +5021,7 @@ class AutoTestPlane(AutoTest):
             self.MAV_CMD_PREFLIGHT_CALIBRATION,
             self.MAV_CMD_DO_INVERTED_FLIGHT,
             self.MAV_CMD_DO_AUTOTUNE_ENABLE,
+            self.MAV_CMD_DO_GO_AROUND,
         ])
         return ret