diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index d89ffa43f5ea6..043323a1f6d45 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -10281,6 +10281,12 @@ def SafetySwitch(self):
         self.change_mode('LAND')
         self.wait_disarmed()
 
+        # test turning safty on/off using explicit MAVLink command:
+        self.run_cmd_int(mavutil.mavlink.MAV_CMD_DO_SET_SAFETY_SWITCH_STATE, mavutil.mavlink.SAFETY_SWITCH_STATE_SAFE)
+        self.assert_prearm_failure("safety switch")
+        self.run_cmd_int(mavutil.mavlink.MAV_CMD_DO_SET_SAFETY_SWITCH_STATE, mavutil.mavlink.SAFETY_SWITCH_STATE_DANGEROUS)
+        self.wait_ready_to_arm()
+
     def GuidedYawRate(self):
         '''ensuer guided yaw rate is not affected by rate of sewt-attitude messages'''
         self.takeoff(30, mode='GUIDED')