diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index d8dd4b23156834..739c89e4f8f60b 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -25,6 +25,7 @@
 from vehicle_test_suite import NotAchievedException, AutoTestTimeoutException, PreconditionFailedException
 from vehicle_test_suite import Test
 from vehicle_test_suite import MAV_POS_TARGET_TYPE_MASK
+from vehicle_test_suite import WaitModeTimeout
 
 from pymavlink.rotmat import Vector3
 
@@ -10667,6 +10668,120 @@ def MAV_CMD_NAV_TAKEOFF_command_int(self):
 
         self.reboot_sitl()  # unlock home position
 
+    def AutoRTL(self):
+        '''Test Auto RTL mode using do land start and do land rejoin mission items'''
+        alt = 50
+        guided_loc = self.home_relative_loc_ne(1000, 0)
+        guided_loc.alt += alt
+
+        # Arm, take off and fly to guided location
+        self.takeoff(mode='GUIDED')
+        self.fly_guided_move_to(guided_loc, timeout=240)
+
+        # Try auto RTL mode, should fail with no mission
+        try:
+            self.change_mode('AUTO_RTL', timeout=10)
+            raise NotAchievedException("Should not change mode with no mission")
+        except WaitModeTimeout:
+            pass
+        except Exception as e:
+            raise e
+
+        # pymavlink does not understand the new rejoin command yet, at some point it will
+        cmd_rejoin = 188 # mavutil.mavlink.MAV_CMD_DO_LAND_REJOIN
+
+        # Do land start and do land rejoin should both fail
+        self.run_cmd(mavutil.mavlink.MAV_CMD_DO_LAND_START, want_result=mavutil.mavlink.MAV_RESULT_FAILED)
+        self.run_cmd(cmd_rejoin, want_result=mavutil.mavlink.MAV_RESULT_FAILED)
+
+        # Load mission with do land start
+        self.upload_simple_relhome_mission([
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 1000, 0, alt), # 1
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT,  750, 0, alt), # 2
+            self.create_MISSION_ITEM_INT(mavutil.mavlink.MAV_CMD_DO_LAND_START), # 3
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 500, 0, alt),  # 4
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 250, 0, alt),  # 5
+        ])
+
+        # Rejoin should still fail
+        self.run_cmd(cmd_rejoin, want_result=mavutil.mavlink.MAV_RESULT_FAILED)
+
+        # Do land start should jump to the waypoint following the item
+        self.run_cmd(mavutil.mavlink.MAV_CMD_DO_LAND_START, want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED)
+        self.drain_mav()
+        self.assert_current_waypoint(4)
+
+        # Back to guided location
+        self.change_mode('GUIDED')
+        self.fly_guided_move_to(guided_loc)
+
+        # mode change to Auto RTL should do the same
+        self.change_mode('AUTO_RTL')
+        self.drain_mav()
+        self.assert_current_waypoint(4)
+
+        # Back to guided location
+        self.change_mode('GUIDED')
+        self.fly_guided_move_to(guided_loc)
+
+        # Add a rejoin item
+        self.upload_simple_relhome_mission([
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 1250, 0, alt), # 1
+            self.create_MISSION_ITEM_INT(cmd_rejoin),             # 2
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 900, 0, alt),  # 3
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 750, 0, alt),  # 4
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 550, 0, alt),  # 5
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 500, 0, alt),  # 6
+            self.create_MISSION_ITEM_INT(mavutil.mavlink.MAV_CMD_DO_LAND_START), # 7
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT,  250, 0, alt), # 8
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, -250, 0, alt), # 9
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, -500, 0, alt), # 10
+        ])
+
+        # rejoin should now work
+        self.run_cmd(cmd_rejoin, want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED)
+        self.drain_mav()
+        self.assert_current_waypoint(3)
+
+        # Back to guided location
+        self.change_mode('GUIDED')
+        self.fly_guided_move_to(guided_loc)
+
+        # mode change to Auto RTL should rejoin
+        self.change_mode('AUTO_RTL')
+        self.drain_mav()
+        self.assert_current_waypoint(3)
+
+        # do land start should still work
+        self.run_cmd(mavutil.mavlink.MAV_CMD_DO_LAND_START, want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED)
+        self.drain_mav()
+        self.assert_current_waypoint(8)
+
+        # Move a bit closer in guided 
+        rejoin_test = self.home_relative_loc_ne(600, 0)
+        rejoin_test.alt += alt
+        self.change_mode('GUIDED')
+        self.fly_guided_move_to(rejoin_test, timeout=100)
+
+        # check the mission is rejoined further along
+        self.run_cmd(cmd_rejoin, want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED)
+        self.drain_mav()
+        self.assert_current_waypoint(5)
+
+        # fly over home
+        home = self.home_relative_loc_ne(0, 0)
+        home.alt += alt
+        self.change_mode('GUIDED')
+        self.fly_guided_move_to(home, timeout=140)
+
+        # Should never rejoin after do land start
+        self.run_cmd(cmd_rejoin, want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED)
+        self.drain_mav()
+        self.assert_current_waypoint(6)
+
+        # Done
+        self.land_and_disarm()
+
     def tests2b(self):  # this block currently around 9.5mins here
         '''return list of all tests'''
         ret = ([
@@ -10740,6 +10855,7 @@ def tests2b(self):  # this block currently around 9.5mins here
             self.MAV_CMD_SET_EKF_SOURCE_SET,
             self.MAV_CMD_NAV_TAKEOFF,
             self.MAV_CMD_NAV_TAKEOFF_command_int,
+            self.AutoRTL,
         ])
         return ret