diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 3f714260b008f..4eadb92c2f8b6 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -5389,6 +5389,17 @@ def ClimbThrottleSaturation(self):
         self.disarm_vehicle(force=True)
         self.reboot_sitl()
 
+    def GuidedAttitudeNoGPS(self):
+        '''test that guided-attitude still works with no GPS'''
+        self.takeoff(50)
+        self.change_mode('GUIDED')
+        self.context_push()
+        self.set_parameter('SIM_GPS_DISABLE', 1)
+        self.delay_sim_time(30)
+        self.set_attitude_target()
+        self.context_pop()
+        self.fly_home_land_and_disarm()
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestPlane, self).tests()
@@ -5499,6 +5510,7 @@ def tests(self):
             self.MAV_CMD_NAV_RETURN_TO_LAUNCH,
             self.MinThrottle,
             self.ClimbThrottleSaturation,
+            self.GuidedAttitudeNoGPS,
         ])
         return ret