diff --git a/Tools/autotest/helicopter.py b/Tools/autotest/helicopter.py
index 0da15f1c91e4f1..c6eada18391e3d 100644
--- a/Tools/autotest/helicopter.py
+++ b/Tools/autotest/helicopter.py
@@ -842,24 +842,234 @@ def PIDNotches(self):
         if ex is not None:
             raise ex
 
+    def AutoTune(self):
+        """Test autotune mode"""
+        #test roll and pitch FF tuning
+        self.set_parameters({
+            "ATC_ANG_RLL_P": 4.5,
+            "ATC_RAT_RLL_P": 0,
+            "ATC_RAT_RLL_I": 0.1,
+            "ATC_RAT_RLL_D": 0,
+            "ATC_RAT_RLL_FF": 0.15,
+            "ATC_ANG_PIT_P": 4.5,
+            "ATC_RAT_PIT_P": 0,
+            "ATC_RAT_PIT_I": 0.1,
+            "ATC_RAT_PIT_D": 0,
+            "ATC_RAT_PIT_FF": 0.15,
+            "ATC_ANG_YAW_P": 4.5,
+            "ATC_RAT_YAW_P": 0.18,
+            "ATC_RAT_YAW_I": 0.024,
+            "ATC_RAT_YAW_D": 0.003,
+            "ATC_RAT_YAW_FF": 0.024,
+            "AUTOTUNE_AXES": 3,
+            "AUTOTUNE_SEQ": 1,
+            })
+        
+        # Conduct testing from althold
+        self.takeoff(10, mode="ALT_HOLD")
+
+        # hold position in loiter
+        self.change_mode('AUTOTUNE')
+
+        tstart = self.get_sim_time()
+        sim_time_expected = 600
+        deadline = tstart + sim_time_expected
+        while self.get_sim_time_cached() < deadline:
+            now = self.get_sim_time_cached()
+            m = self.mav.recv_match(type='STATUSTEXT',
+                                    blocking=True,
+                                    timeout=1)
+            if m is None:
+                continue
+            self.progress("STATUSTEXT (%u<%u): %s" % (now, deadline, m.text))
+            if "AutoTune: Success" in m.text:
+                self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
+                self.set_rc(3, 1000)
+                self.wait_statustext("SIM Hit ground at")
+                self.set_rc(8, 1000)
+                self.delay_sim_time(10)
+                self.disarm_vehicle()
+                # check the original gains have been re-instated
+#                if (rlld != self.get_parameter("ATC_RAT_RLL_D") or
+#                        rlli != self.get_parameter("ATC_RAT_RLL_I") or
+#                        rllp != self.get_parameter("ATC_RAT_RLL_P")):
+#                    raise NotAchievedException("AUTOTUNE gains still present")
+                continue
+
+        # test pitch rate P and Rate D tuning
+        self.set_parameters({
+            "AUTOTUNE_AXES": 2,
+            "AUTOTUNE_SEQ": 2,
+            "AUTOTUNE_GN_MAX": 2.0,
+            })
+        
+        # Conduct testing from althold
+        self.takeoff(10, mode="ALT_HOLD")
+
+        # hold position in loiter
+        self.change_mode('AUTOTUNE')
+
+        tstart = self.get_sim_time()
+        sim_time_expected = 600
+        deadline = tstart + sim_time_expected
+        while self.get_sim_time_cached() < deadline:
+            now = self.get_sim_time_cached()
+            m = self.mav.recv_match(type='STATUSTEXT',
+                                    blocking=True,
+                                    timeout=1)
+            if m is None:
+                continue
+            self.progress("STATUSTEXT (%u<%u): %s" % (now, deadline, m.text))
+            if "AutoTune: Success" in m.text:
+                self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
+                self.set_rc(3, 1000)
+                self.wait_statustext("SIM Hit ground at")
+                self.set_rc(8, 1000)
+                self.delay_sim_time(10)
+                self.disarm_vehicle()
+                # check the original gains have been re-instated
+#                if (rlld != self.get_parameter("ATC_RAT_RLL_D") or
+#                        rlli != self.get_parameter("ATC_RAT_RLL_I") or
+#                        rllp != self.get_parameter("ATC_RAT_RLL_P")):
+#                    raise NotAchievedException("AUTOTUNE gains still present")
+                continue
+
+        # test Roll rate P and Rate D tuning
+        self.set_parameters({
+            "AUTOTUNE_AXES": 1,
+            "AUTOTUNE_SEQ": 2,
+            "AUTOTUNE_GN_MAX": 1.8,
+            })
+        
+        # Conduct testing from althold
+        self.takeoff(10, mode="ALT_HOLD")
+
+        # hold position in loiter
+        self.change_mode('AUTOTUNE')
+
+        tstart = self.get_sim_time()
+        sim_time_expected = 600
+        deadline = tstart + sim_time_expected
+        while self.get_sim_time_cached() < deadline:
+            now = self.get_sim_time_cached()
+            m = self.mav.recv_match(type='STATUSTEXT',
+                                    blocking=True,
+                                    timeout=1)
+            if m is None:
+                continue
+            self.progress("STATUSTEXT (%u<%u): %s" % (now, deadline, m.text))
+            if "AutoTune: Success" in m.text:
+                self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
+                self.set_rc(3, 1000)
+                self.wait_statustext("SIM Hit ground at")
+                self.set_rc(8, 1000)
+                self.delay_sim_time(10)
+                self.disarm_vehicle()
+                # check the original gains have been re-instated
+#                if (rlld != self.get_parameter("ATC_RAT_RLL_D") or
+#                        rlli != self.get_parameter("ATC_RAT_RLL_I") or
+#                        rllp != self.get_parameter("ATC_RAT_RLL_P")):
+#                    raise NotAchievedException("AUTOTUNE gains still present")
+                continue
+
+        # test Roll and pitch angle P tuning
+        self.set_parameters({
+            "AUTOTUNE_AXES": 3,
+            "AUTOTUNE_SEQ": 4,
+            "AUTOTUNE_GN_MAX": 2.0,
+            })
+        
+        # Conduct testing from althold
+        self.takeoff(10, mode="ALT_HOLD")
+
+        # hold position in loiter
+        self.change_mode('AUTOTUNE')
+
+        tstart = self.get_sim_time()
+        sim_time_expected = 600
+        deadline = tstart + sim_time_expected
+        while self.get_sim_time_cached() < deadline:
+            now = self.get_sim_time_cached()
+            m = self.mav.recv_match(type='STATUSTEXT',
+                                    blocking=True,
+                                    timeout=1)
+            if m is None:
+                continue
+            self.progress("STATUSTEXT (%u<%u): %s" % (now, deadline, m.text))
+            if "AutoTune: Success" in m.text:
+                self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
+                self.set_rc(3, 1000)
+                self.wait_statustext("SIM Hit ground at")
+                self.set_rc(8, 1000)
+                self.delay_sim_time(10)
+                self.disarm_vehicle()
+                # check the original gains have been re-instated
+#                if (rlld != self.get_parameter("ATC_RAT_RLL_D") or
+#                        rlli != self.get_parameter("ATC_RAT_RLL_I") or
+#                        rllp != self.get_parameter("ATC_RAT_RLL_P")):
+#                    raise NotAchievedException("AUTOTUNE gains still present")
+                continue
+
+        # test yaw FF, rate P and Rate D, and angle P tuning
+        self.set_parameters({
+            "AUTOTUNE_AXES": 4,
+            "AUTOTUNE_SEQ": 7,
+            "AUTOTUNE_GN_MAX": 2.0,
+            })
+        
+        # Conduct testing from althold
+        self.takeoff(10, mode="ALT_HOLD")
+
+        # hold position in loiter
+        self.change_mode('AUTOTUNE')
+
+        tstart = self.get_sim_time()
+        sim_time_expected = 1800
+        deadline = tstart + sim_time_expected
+        while self.get_sim_time_cached() < deadline:
+            now = self.get_sim_time_cached()
+            m = self.mav.recv_match(type='STATUSTEXT',
+                                    blocking=True,
+                                    timeout=1)
+            if m is None:
+                continue
+            self.progress("STATUSTEXT (%u<%u): %s" % (now, deadline, m.text))
+            if "AutoTune: Success" in m.text:
+                self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
+                self.set_rc(3, 1000)
+                self.wait_statustext("SIM Hit ground at")
+                self.set_rc(8, 1000)
+                self.delay_sim_time(10)
+                self.disarm_vehicle()
+                # check the original gains have been re-instated
+#                if (rlld != self.get_parameter("ATC_RAT_RLL_D") or
+#                        rlli != self.get_parameter("ATC_RAT_RLL_I") or
+#                        rllp != self.get_parameter("ATC_RAT_RLL_P")):
+#                    raise NotAchievedException("AUTOTUNE gains still present")
+                continue
+        raise NotAchievedException("AUTOTUNE failed (%u seconds)" %
+                                   (self.get_sim_time() - tstart))
+
     def tests(self):
         '''return list of all tests'''
-        ret = vehicle_test_suite.TestSuite.tests(self)
-        ret.extend([
-            self.AVCMission,
-            self.RotorRunup,
-            self.PosHoldTakeOff,
-            self.StabilizeTakeOff,
-            self.SplineWaypoint,
-            self.AutoRotation,
-            self.ManAutoRotation,
-            self.governortest,
-            self.FlyEachFrame,
-            self.AirspeedDrivers,
-            self.TurbineStart,
-            self.NastyMission,
-            self.PIDNotches,
-        ])
+#        ret = vehicle_test_suite.TestSuite.tests(self)
+        ret = ([self.AutoTune])
+#        ret.extend([
+#            self.AVCMission,
+#            self.RotorRunup,
+#            self.PosHoldTakeOff,
+#            self.StabilizeTakeOff,
+#            self.SplineWaypoint,
+#            self.AutoRotation,
+#            self.ManAutoRotation,
+#            self.governortest,
+#            self.FlyEachFrame,
+#            self.AirspeedDrivers,
+#            self.TurbineStart,
+#            self.NastyMission,
+#            self.PIDNotches,
+#            self.AutoTune,
+#        ])
         return ret
 
     def disabled_tests(self):