diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index c3e584124d..388fb2c746 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -1689,24 +1689,37 @@ class AutoTestPlane(AutoTest):
         self.progress("Ensure no AIRSPEED_AUTOCAL on ground")
         self.set_parameters({
             "ARSPD_AUTOCAL": 1,
+            "ARSPD_PIN": 2,
+            "ARSPD_RATIO": 0,
+            "ARSPD2_RATIO": 4,
+            "ARSPD2_TYPE": 3,  # MS5525
+            "ARSPD2_BUS": 1,
+            "ARSPD2_AUTOCAL": 1,
+            "SIM_ARSPD2_OFS": 1900,  # default is 2013
+
             "RTL_AUTOLAND": 1,
         })
-        m = self.mav.recv_match(type='AIRSPEED_AUTOCAL',
-                                blocking=True,
-                                timeout=5)
-        if m is not None:
-            raise NotAchievedException("Got autocal on ground")
+        self.context_collect('STATUSTEXT')
+        self.reboot_sitl()
+
+        self.assert_not_receive_message('AIRSPEED_AUTOCAL', timeout=5)
+
+        # these are boot-time calibration messages:
+        self.wait_statustext('Airspeed 1 calibrated', check_context=True, timeout=30)
+        self.wait_statustext('Airspeed 2 calibrated', check_context=True)
+
         mission_filepath = "flaps.txt"
-        num_wp = self.load_mission(mission_filepath)
+        self.load_mission(mission_filepath)
         self.wait_ready_to_arm()
         self.arm_vehicle()
         self.change_mode("AUTO")
         self.progress("Ensure AIRSPEED_AUTOCAL in air")
-        m = self.mav.recv_match(type='AIRSPEED_AUTOCAL',
-                                blocking=True,
-                                timeout=5)
-        self.wait_waypoint(7, num_wp-1, max_dist=5, timeout=500)
-        self.wait_disarmed(timeout=120)
+        self.assert_receive_message('AIRSPEED_AUTOCAL')
+        self.wait_statustext("Airspeed 0 ratio reset", check_context=True, timeout=70)
+        # we only autocal the primary sensor?!
+        self.set_parameter('ARSPD_PRIMARY', 1)
+        self.wait_statustext("Airspeed 1 ratio reset", check_context=True, timeout=70)
+        self.fly_home_land_and_disarm()
 
     def deadreckoning_main(self, disable_airspeed_sensor=False):
         self.wait_ready_to_arm()