diff --git a/Tools/autotest/apmrover2.py b/Tools/autotest/apmrover2.py
index 4d891f54e9..f5fae73122 100644
--- a/Tools/autotest/apmrover2.py
+++ b/Tools/autotest/apmrover2.py
@@ -14,8 +14,8 @@ HOME=mavutil.location(40.071374969556928,-105.22978898137808,1583.702759,246)
 homeloc = None
 
 def arm_rover(mavproxy, mav):
-    # wait for EKF to settle
-    wait_seconds(mav, 15)
+    # wait for EKF and GPS checks to pass
+    wait_seconds(mav, 30)
 
     mavproxy.send('arm throttle\n')
     mavproxy.expect('ARMED')
diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index a0c43db654..fde91083a1 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -987,8 +987,8 @@ def fly_ArduCopter(binary, viewerip=None, map=False, valgrind=False, gdb=False):
         setup_rc(mavproxy)
         homeloc = mav.location()
 
-        # wait 10sec to allow EKF to settle
-        wait_seconds(mav, 10)
+        # wait for EKF and GPS checks to pass
+        wait_seconds(mav, 30)
 
         # Arm
         print("# Arm motors")
@@ -1340,8 +1340,8 @@ def fly_CopterAVC(binary, viewerip=None, map=False, valgrind=False, gdb=False):
         print("Lowering rotor speed")
         mavproxy.send('rc 8 1000\n')
 
-        # wait 20sec to allow EKF to settle
-        wait_seconds(mav, 20)
+        # wait for EKF and GPS checks to pass
+        wait_seconds(mav, 30)
 
         # Arm
         print("# Arm motors")
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index cc80ec9a6f..e977e4ad37 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -17,8 +17,8 @@ homeloc = None
 def takeoff(mavproxy, mav):
     '''takeoff get to 30m altitude'''
 
-    # wait for EKF to settle
-    wait_seconds(mav, 15)
+    # wait for EKF and GPS checks to pass
+    wait_seconds(mav, 30)
 
     mavproxy.send('arm throttle\n')
     mavproxy.expect('ARMED')
diff --git a/Tools/autotest/quadplane.py b/Tools/autotest/quadplane.py
index 982c8757fb..ed86347d75 100644
--- a/Tools/autotest/quadplane.py
+++ b/Tools/autotest/quadplane.py
@@ -101,8 +101,8 @@ def fly_QuadPlane(binary, viewerip=None, map=False, valgrind=False, gdb=False):
         homeloc = mav.location()
         print("Home location: %s" % homeloc)
 
-        # wait for EKF to settle
-        wait_seconds(mav, 15)
+        # wait for EKF and GPS checks to pass
+        wait_seconds(mav, 30)
 
         mavproxy.send('arm throttle\n')
         mavproxy.expect('ARMED')