diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 94d45fde61..7e5e3de374 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -5170,7 +5170,12 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
         self.run_cmd_do_set_mode("ACRO")
         self.wait_disarmed()
 
-    def test_mount_pitch(self, despitch, despitch_tolerance, mount_mode, timeout=10, hold=0):
+    def constrained_mount_pitch(self, pitch_angle_deg, mount_instance=1):
+        PITCH_MIN = self.get_parameter("MNT%u_PITCH_MIN" % mount_instance)
+        PITCH_MAX = self.get_parameter("MNT%u_PITCH_MAX" % mount_instance)
+        return min(max(pitch_angle_deg, PITCH_MIN), PITCH_MAX)
+
+    def test_mount_pitch(self, despitch, despitch_tolerance, mount_mode, timeout=10, hold=0, constrained=True):
         tstart = self.get_sim_time()
         success_start = 0
         while True:
@@ -5178,6 +5183,10 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
             if now - tstart > timeout:
                 raise NotAchievedException("Mount pitch not achieved")
 
+            # We expect to achieve the desired pitch angle unless constrained by mount limits
+            if constrained:
+                despitch = self.constrained_mount_pitch(despitch)
+
             '''retrieve latest angles from GIMBAL_DEVICE_ATTITUDE_STATUS'''
             mount_roll, mount_pitch, mount_yaw = self.get_mount_roll_pitch_yaw_deg()
 
@@ -5322,17 +5331,19 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
             self.progress("Testing RC rate control")
             self.set_parameter('MNT1_RC_RATE', 10)
             self.test_mount_pitch(0, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
+            # Note that we don't constrain the desired angle in the following so that we don't
+            # timeout due to fetching Mount pitch limit params.
             self.set_rc(12, 1300)
-            self.test_mount_pitch(-5, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
-            self.test_mount_pitch(-10, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
-            self.test_mount_pitch(-15, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
-            self.test_mount_pitch(-20, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
+            self.test_mount_pitch(-5, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING, constrained=False)
+            self.test_mount_pitch(-10, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING, constrained=False)
+            self.test_mount_pitch(-15, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING, constrained=False)
+            self.test_mount_pitch(-20, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING, constrained=False)
             self.set_rc(12, 1700)
-            self.test_mount_pitch(-15, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
-            self.test_mount_pitch(-10, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
-            self.test_mount_pitch(-5, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
-            self.test_mount_pitch(0, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
-            self.test_mount_pitch(5, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
+            self.test_mount_pitch(-15, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING, constrained=False)
+            self.test_mount_pitch(-10, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING, constrained=False)
+            self.test_mount_pitch(-5, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING, constrained=False)
+            self.test_mount_pitch(0, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING, constrained=False)
+            self.test_mount_pitch(5, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING, constrained=False)
 
             self.progress("Reverting to angle mode")
             self.set_parameter('MNT1_RC_RATE', 0)