diff --git a/Tools/autotest/autotest.py b/Tools/autotest/autotest.py
index 857fe8b320..5a2f99c1c9 100755
--- a/Tools/autotest/autotest.py
+++ b/Tools/autotest/autotest.py
@@ -380,6 +380,7 @@ def run_step(step):
         "gdb": opts.gdb,
         "gdbserver": opts.gdbserver,
         "breakpoints": opts.breakpoint,
+        "disable_breakpoints": opts.disable_breakpoints,
         "frame": opts.frame,
         "_show_test_timings": opts.show_test_timings,
     }
@@ -727,6 +728,10 @@ if __name__ == "__main__":
                          action="append",
                          default=[],
                          help="add a breakpoint at given location in debugger")
+    group_sim.add_option("--disable-breakpoints",
+                         default=False,
+                         action='store_true',
+                         help="disable all breakpoints before starting")
     parser.add_option_group(group_sim)
 
     opts, args = parser.parse_args()
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index 3e100662b7..1ad646c4f2 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -169,6 +169,7 @@ class AutoTest(ABC):
                  params=None,
                  gdbserver=False,
                  breakpoints=[],
+                 disable_breakpoints=False,
                  viewerip=None,
                  use_map=False,
                  _show_test_timings=False):
@@ -180,6 +181,7 @@ class AutoTest(ABC):
         self.params = params
         self.gdbserver = gdbserver
         self.breakpoints = breakpoints
+        self.disable_breakpoints = disable_breakpoints
         self.speedup = speedup
 
         self.mavproxy = None
@@ -2007,6 +2009,7 @@ class AutoTest(ABC):
         self.progress("Starting simulator")
         self.sitl = util.start_SITL(self.binary,
                                     breakpoints=self.breakpoints,
+                                    disable_breakpoints=self.disable_breakpoints,
                                     defaults_file=self.defaults_filepath(),
                                     gdb=self.gdb,
                                     gdbserver=self.gdbserver,
diff --git a/Tools/autotest/pysim/util.py b/Tools/autotest/pysim/util.py
index c1cb44145b..eb4b07321e 100644
--- a/Tools/autotest/pysim/util.py
+++ b/Tools/autotest/pysim/util.py
@@ -227,6 +227,7 @@ def start_SITL(binary,
                unhide_parameters=False,
                gdbserver=False,
                breakpoints=[],
+               disable_breakpoints=False,
                vicon=False):
     """Launch a SITL instance."""
     cmd = []
@@ -253,6 +254,8 @@ def start_SITL(binary,
             f.write("target extended-remote localhost:3333\nc\n")
             for breakpoint in breakpoints:
                 f.write("b %s\n" % (breakpoint,))
+            if disable_breakpoints:
+                f.write("disable\n")
             f.close()
             run_cmd('screen -d -m -S ardupilot-gdbserver '
                     'bash -c "gdb -x /tmp/x.gdb"')
@@ -260,6 +263,8 @@ def start_SITL(binary,
         f = open("/tmp/x.gdb", "w")
         for breakpoint in breakpoints:
             f.write("b %s\n" % (breakpoint,))
+        if disable_breakpoints:
+            f.write("disable\n")
         f.write("r\n")
         f.close()
         if os.environ.get('DISPLAY'):