diff --git a/Tools/autotest/ardusub.py b/Tools/autotest/ardusub.py
index e83eb992a9..7d8dc598ef 100644
--- a/Tools/autotest/ardusub.py
+++ b/Tools/autotest/ardusub.py
@@ -170,6 +170,13 @@ class AutoTestSub(AutoTest):
             pass
         self.initialise_after_reboot_sitl()
 
+    def disabled_tests(self):
+        ret = super(AutoTestSub, self).disabled_tests()
+        ret.update({
+            "SensorConfigErrorLoop": "Sub does not instantiate AP_Stats.  Also see https://github.com/ArduPilot/ardupilot/issues/10247",
+        })
+        return ret
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestSub, self).tests()
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index 67f576069a..7efb3acf09 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -293,7 +293,7 @@ class AutoTest(ABC):
         self.mavproxy.send("param fetch\n")
         self.mavproxy.expect("Received [0-9]+ parameters")
 
-    def reboot_sitl_mav(self):
+    def reboot_sitl_mav(self, required_bootcount=None):
         """Reboot SITL instance using mavlink and wait for it to reconnect."""
         old_bootcount = self.get_parameter('STAT_BOOTCNT')
         # ardupilot SITL may actually NAK the reboot; replace with
@@ -309,26 +309,30 @@ class AutoTest(ABC):
                                        0,
                                        0,
                                        0)
-        self.detect_and_handle_reboot(old_bootcount)
+        self.detect_and_handle_reboot(old_bootcount, required_bootcount=required_bootcount)
 
-    def reboot_sitl(self):
+    def reboot_sitl(self, required_bootcount=None):
         """Reboot SITL instance and wait for it to reconnect."""
-        self.reboot_sitl_mav()
+        self.reboot_sitl_mav(required_bootcount=required_bootcount)
         self.assert_simstate_location_is_at_startup_location()
 
-    def reboot_sitl_mavproxy(self):
+    def reboot_sitl_mavproxy(self, required_bootcount=None):
         """Reboot SITL instance using MAVProxy and wait for it to reconnect."""
         old_bootcount = self.get_parameter('STAT_BOOTCNT')
         self.mavproxy.send("reboot\n")
-        self.detect_and_handle_reboot(old_bootcount)
+        self.detect_and_handle_reboot(old_bootcount, required_bootcount=required_bootcount)
 
-    def detect_and_handle_reboot(self, old_bootcount):
+    def detect_and_handle_reboot(self, old_bootcount, required_bootcount=None):
         tstart = time.time()
+        if required_bootcount is None:
+            required_bootcount = old_bootcount + 1
         while True:
             if time.time() - tstart > 10:
                 raise AutoTestTimeoutException("Did not detect reboot")
             try:
-                if self.get_parameter('STAT_BOOTCNT', timeout=1) != old_bootcount:
+                current_bootcount = self.get_parameter('STAT_BOOTCNT', timeout=1)
+                print("current=%s required=%u" % (str(current_bootcount), required_bootcount))
+                if current_bootcount == required_bootcount:
                     break
             except NotAchievedException:
                 pass
@@ -2604,6 +2608,36 @@ class AutoTest(ABC):
         if num_wp != 0:
             raise NotAchievedException("Failed to clear mission")
 
+    def test_sensor_config_error_loop(self):
+        '''test the sensor config error loop works and that parameter sets are persistent'''
+        parameter_name = "SERVO8_MIN"
+        old_parameter_value = self.get_parameter(parameter_name)
+        old_sim_baro_count = self.get_parameter("SIM_BARO_COUNT")
+        new_parameter_value = old_parameter_value + 5
+        ex = None
+        try:
+            self.set_parameter("STAT_BOOTCNT", 0)
+            self.set_parameter("SIM_BARO_COUNT", 0)
+            self.reboot_sitl(required_bootcount=1);
+            self.progress("Waiting for 'Check BRD_TYPE'")
+            self.mavproxy.expect("Check BRD_TYPE");
+            self.progress("Setting %s to %f" % (parameter_name, new_parameter_value))
+            self.set_parameter(parameter_name, new_parameter_value)
+        except Exception as e:
+            ex = e
+
+        self.progress("Resetting SIM_BARO_COUNT")
+        self.set_parameter("SIM_BARO_COUNT", old_sim_baro_count)
+
+        self.progress("Calling reboot-sitl ")
+        self.reboot_sitl(required_bootcount=2);
+
+        if ex is not None:
+            raise ex
+
+        if self.get_parameter(parameter_name) != new_parameter_value:
+            raise NotAchievedException("Parameter value did not stick")
+
     def test_gripper(self):
         self.context_push()
         self.set_parameter("GRIP_ENABLE", 1)
@@ -2867,6 +2901,10 @@ switch value'''
             ("SetHome",
             "Test Set Home",
              self.fly_test_set_home),
+
+            ("SensorConfigErrorLoop",
+             "Test Sensor Config Error Loop",
+             self.test_sensor_config_error_loop),
         ]
 
     def post_tests_announcements(self):