diff --git a/Tools/autotest/ArduPlane_Tests/AutoLandMode/autoland_mission.txt b/Tools/autotest/ArduPlane_Tests/AutoLandMode/autoland_mission.txt
new file mode 100644
index 00000000000000..0f1a47ef515b07
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/AutoLandMode/autoland_mission.txt
@@ -0,0 +1,4 @@
+QGC WPL 110
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.363262	149.165238	584.089966	1
+1	0	3	22	15.000000	0.000000	0.000000	0.000000	0.000000	0.000000	100.000000	1
+2	0	10	19	20.000000	0.000000	1.000000	0.000000	-35.342005	149.100266	100.000000	1
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index a05ac4f33c907f..915522ee110477 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -4243,13 +4243,20 @@ def AutoLandMode(self):
         '''Test AUTOLAND mode'''
         self.set_parameters({
             "AUTOLAND_DIR_OFF": 45,
+            "TERRAIN_FOLLOW": 1,
+            "AUTOLAND_CLIMB": 300,
         })
         self.customise_SITL_commandline(["--home", "-35.362938,149.165085,585,173"])
         self.context_collect('STATUSTEXT')
-        self.takeoff(alt=80, mode='TAKEOFF')
+        self.load_mission("autoland_mission.txt")
+        self.install_terrain_handlers_context()
+        self.change_mode("AUTO")
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
         self.wait_text("Autoland direction", check_context=True)
+        self.wait_waypoint(2, 2, max_dist=100)
         self.change_mode(26)
-        self.wait_disarmed(120)
+        self.wait_disarmed(400)
         self.progress("Check the landed heading matches takeoff plus offset")
         self.wait_heading(218, accuracy=5, timeout=1)
         loc = mavutil.location(-35.362938, 149.165085, 585, 218)
diff --git a/autoland_mission.txt b/autoland_mission.txt
new file mode 100644
index 00000000000000..0f1a47ef515b07
--- /dev/null
+++ b/autoland_mission.txt
@@ -0,0 +1,4 @@
+QGC WPL 110
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.363262	149.165238	584.089966	1
+1	0	3	22	15.000000	0.000000	0.000000	0.000000	0.000000	0.000000	100.000000	1
+2	0	10	19	20.000000	0.000000	1.000000	0.000000	-35.342005	149.100266	100.000000	1