diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 5bfcfe1fe6..7e9a92a7f5 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -4351,6 +4351,10 @@ class AutoTestCopter(AutoTest):
 
         self.context_pop()
 
+        # need a final reboot because weird things happen to your
+        # vehicle state when switching back from EKF type 10!
+        self.reboot_sitl()
+
         if ex is not None:
             raise ex