diff --git a/Tools/autotest/ArduPlane_Tests/DO_CHANGE_SPEED/mission.txt b/Tools/autotest/ArduPlane_Tests/DO_CHANGE_SPEED/mission.txt
new file mode 100644
index 0000000000..2b59e24b9c
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/DO_CHANGE_SPEED/mission.txt
@@ -0,0 +1,10 @@
+QGC WPL 110
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.363262	149.165237	584.089966	1
+1	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.366249	149.171337	50.000000	1
+2	0	0	178	0.000000	10.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+3	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361489	149.166778	50.000000	1
+4	0	0	178	0.000000	20.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+5	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.362949	149.162221	50.000000	1
+6	0	0	178	0.000000	15.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+7	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364969	149.165044	50.000000	1
+8	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361791	149.165045	50.000000	1
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index dc87335d1d..125f7f6df7 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -646,14 +646,49 @@ class AutoTestPlane(AutoTest):
         if not self.current_onboard_log_contains_message("BCL2"):
             raise NotAchievedException("Expected BCL2 message")
 
-    def fly_do_change_speed(self):
+    def DO_CHANGE_SPEED(self):
+        '''test DO_CHANGE_SPEED both as a mavlink command and as a mission item'''
         # the following lines ensure we revert these parameter values
         # - DO_CHANGE_AIRSPEED is a permanent vehicle change!
         self.set_parameters({
             "TRIM_ARSPD_CM": self.get_parameter("TRIM_ARSPD_CM"),
             "MIN_GNDSPD_CM": self.get_parameter("MIN_GNDSPD_CM"),
+            "RTL_AUTOLAND": 1,
         })
 
+        self.DO_CHANGE_SPEED_mavlink()
+        self.DO_CHANGE_SPEED_mission()
+
+    def DO_CHANGE_SPEED_mission(self):
+        '''test DO_CHANGE_SPEED as a mission item'''
+        self.start_subtest("DO_CHANGE_SPEED_mission")
+        self.load_mission("mission.txt")
+        self.set_current_waypoint(1)
+
+        self.progress("Takeoff")
+        self.set_rc(3, 1000)
+        self.takeoff(alt=10)
+        self.set_rc(3, 1500)
+
+        self.start_subtest("Check initial speed")
+
+        self.change_mode('AUTO')
+
+        checks = [
+            (1, self.get_parameter("TRIM_ARSPD_CM") * 0.01),
+            (3, 10),
+            (5, 20),
+            (7, 15),
+        ]
+
+        for (current_waypoint, want_airspeed) in checks:
+            self.wait_current_waypoint(current_waypoint)
+            self.wait_airspeed(want_airspeed-1, want_airspeed+1, minimum_duration=5, timeout=120)
+
+        self.fly_home_land_and_disarm()
+
+    def DO_CHANGE_SPEED_mavlink(self):
+        '''test DO_CHANGE_SPEED as a mavlink command'''
         self.progress("Takeoff")
         self.takeoff(alt=100)
         self.set_rc(3, 1500)
@@ -3592,7 +3627,9 @@ function'''
 
             ("TestFlaps", "Flaps", self.fly_flaps),
 
-            ("DO_CHANGE_SPEED", "Test mavlink DO_CHANGE_SPEED command", self.fly_do_change_speed),
+            ("DO_CHANGE_SPEED",
+             "Test DO_CHANGE_SPEED command/item",
+             self.DO_CHANGE_SPEED),
 
             ("DO_REPOSITION",
              "Test mavlink DO_REPOSITION command",
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index b33851a965..e0219f5822 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -5632,14 +5632,20 @@ class AutoTest(ABC):
         )
 
     def wait_groundspeed(self, speed_min, speed_max, timeout=30, **kwargs):
+        self.wait_vfr_hud_speed("groundspeed", speed_min, speed_max, timeout=timeout, **kwargs)
+
+    def wait_airspeed(self, speed_min, speed_max, timeout=30, **kwargs):
+        self.wait_vfr_hud_speed("airspeed", speed_min, speed_max, timeout=timeout, **kwargs)
+
+    def wait_vfr_hud_speed(self, field, speed_min, speed_max, timeout=30, **kwargs):
         """Wait for a given ground speed range."""
         assert speed_min <= speed_max, "Minimum speed should be less than maximum speed."
 
-        def get_groundspeed(timeout2):
+        def get_speed(timeout2):
             msg = self.mav.recv_match(type='VFR_HUD', blocking=True, timeout=timeout2)
             if msg:
-                return msg.groundspeed
-            raise MsgRcvTimeoutException("Failed to get Groundspeed")
+                return getattr(msg, field)
+            raise MsgRcvTimeoutException("Failed to get %s" % field)
 
         def validator(value2, target2=None):
             if speed_min <= value2 <= speed_max:
@@ -5648,9 +5654,9 @@ class AutoTest(ABC):
                 return False
 
         self.wait_and_maintain(
-            value_name="Groundspeed",
+            value_name=field,
             target=(speed_min+speed_max)/2,
-            current_value_getter=lambda: get_groundspeed(timeout),
+            current_value_getter=lambda: get_speed(timeout),
             accuracy=(speed_max - speed_min)/2,
             validator=lambda value2, target2: validator(value2, target2),
             timeout=timeout,