diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 05b1b253f0..540fd110bb 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -6797,8 +6797,8 @@ class AutoTestCopter(AutoTest):
         self.context_pop()
         self.reboot_sitl()
 
-    def fly_proximity_avoidance_test_corners(self):
-        self.start_subtest("Corners")
+    def AC_Avoidance_Proximity(self):
+        '''Test proximity avoidance slide behaviour'''
         self.context_push()
         ex = None
         try:
@@ -6904,8 +6904,8 @@ class AutoTestCopter(AutoTest):
                     "Distance too great (%s) (want=%s != got=%s)" %
                     (name, wants, gots))
 
-    def fly_proximity_avoidance_test_alt_no_avoid(self):
-        self.start_subtest("Alt-no-avoid")
+    def AC_Avoidance_Proximity_AVOID_ALT_MIN(self):
+        '''Test proximity avoidance with AVOID_ALT_MIN'''
         self.context_push()
         ex = None
         try:
@@ -6983,11 +6983,6 @@ class AutoTestCopter(AutoTest):
         if ex is not None:
             raise ex
 
-    def AC_Avoidance_Proximity(self):
-        '''Test proximity avoidance slide behaviour'''
-        self.fly_proximity_avoidance_test_alt_no_avoid()
-        self.fly_proximity_avoidance_test_corners()
-
     def AC_Avoidance_Fence(self):
         '''Test fence avoidance slide behaviour'''
         self.context_push()
@@ -9683,6 +9678,7 @@ class AutoTestCopter(AutoTest):
              self.StabilityPatch,
              self.OBSTACLE_DISTANCE_3D,
              self.AC_Avoidance_Proximity,
+             self.AC_Avoidance_Proximity_AVOID_ALT_MIN,
              self.AC_Avoidance_Fence,
              self.AC_Avoidance_Beacon,
              self.BaroWindCorrection,