diff --git a/Tools/autotest/sim_vehicle.py b/Tools/autotest/sim_vehicle.py
index dd73e59955..f049fcfb66 100755
--- a/Tools/autotest/sim_vehicle.py
+++ b/Tools/autotest/sim_vehicle.py
@@ -1239,6 +1239,41 @@ else:
                   frame_infos,
                   spawns=spawns)
 
+
+if cmd_opts.delay_start:
+    progress("Sleeping for %f seconds" % (cmd_opts.delay_start,))
+    time.sleep(float(cmd_opts.delay_start))
+
+tmp = None
+if cmd_opts.frame in ['scrimmage-plane', 'scrimmage-copter']:
+    # import only here so as to avoid jinja dependency in whole script
+    from jinja2 import Environment, FileSystemLoader
+    from tempfile import mkstemp
+    entities = []
+    config = {}
+    config['plane'] = cmd_opts.vehicle == 'ArduPlane'
+    config['terrain'] = 'mcmillan'
+    if location is not None:
+        config['lat'] = location[0]
+        config['lon'] = location[1]
+        config['alt'] = location[2]
+    config['entities'] = []
+    for k in offsets:
+        (x, y, z, heading) = offsets[k]
+        config['entities'].append({'x': x, 'y': y, 'z': z, 'heading': heading,
+            'to_ardupilot_port': 9003 + k * 10,
+            'from_ardupilot_port': 9002 + k * 10,
+            'to_ardupilot_ip': '127.0.0.1'})
+    env = Environment(loader=FileSystemLoader(os.path.join(autotest_dir, 'template')))
+    mission = env.get_template('scrimmage.xml').render(**config)
+    tmp = mkstemp()
+    atexit.register(os.remove, tmp[1])
+
+    with os.fdopen(tmp[0], 'w') as fd:
+        fd.write(mission)
+    run_in_terminal_window('SCRIMMAGE', ['scrimmage', tmp[1]])
+
+
 if cmd_opts.delay_start:
     progress("Sleeping for %f seconds" % (cmd_opts.delay_start,))
     time.sleep(float(cmd_opts.delay_start))
diff --git a/Tools/autotest/template/scrimmage.xml b/Tools/autotest/template/scrimmage.xml
new file mode 100644
index 0000000000..4809eaed7d
--- /dev/null
+++ b/Tools/autotest/template/scrimmage.xml
@@ -0,0 +1,101 @@
+<?xml version="1.0"?>
+<?xml-stylesheet type="text/xsl" href="http://gtri.gatech.edu"?>
+<runscript xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+    name="Straight flying">
+
+  <!--  <run start="0.0" end="100" dt="0.00833333" -->
+  <run start="0.0" end="10000000" dt="0.001"
+       {% if plane %}
+       motion_multiplier="1"
+       {% endif %}
+       time_warp="1"
+       enable_gui="true"
+       network_gui="false"
+       start_paused="false"/>
+
+  <stream_port>50051</stream_port>
+  <stream_ip>localhost</stream_ip>
+
+  <end_condition>all_dead</end_condition> <!-- time, one_team, none-->
+
+  <grid_spacing>10</grid_spacing>
+  <grid_size>1000</grid_size>
+
+  <terrain>{% if terrain %}{{ terrain }}{% else %}mcmillan{% endif %}</terrain>
+  <background_color>191 191 191</background_color> <!-- Red Green Blue -->
+  <gui_update_period>10</gui_update_period> <!-- milliseconds -->
+
+  <plot_tracks>false</plot_tracks>
+  <output_type>all</output_type>
+  <show_plugins>false</show_plugins>
+
+  <metrics>SimpleCollisionMetrics</metrics>
+
+  <log_dir>~/.scrimmage/logs</log_dir>
+
+  {% if plane %}
+  <latitude_origin>{% if lat %}{{ lat }}{% else %}32.42553{% endif %}</latitude_origin>
+  <longitude_origin>{% if lon %}{{ lon }}{% else %}-84.79109{% endif %}</longitude_origin>
+  <altitude_origin>{% if alt %}{{ alt }}{% else %}75{% endif %}</altitude_origin>
+  {% else %}
+  <latitude_origin>{% if lat %}{{ lat }}{% else %}34.458281{% endif %}</latitude_origin>
+  <longitude_origin>{% if lon %}{{ lon }}{% else %}-84.180209{% endif %}</longitude_origin>
+  <altitude_origin>{% if alt %}{{ alt }}{% else %}450{% endif %}</altitude_origin>
+  {% endif %}
+
+  <show_origin>true</show_origin>
+  <origin_length>10</origin_length>
+
+  <network>LocalNetwork</network>
+  <network>GlobalNetwork</network>
+
+  <entity_interaction>SimpleCollision</entity_interaction>
+  <entity_interaction enable_startup_collisions="false"
+                      remove_on_collision="false">GroundCollision</entity_interaction>
+
+  <!-- uncomment "seed" and use integer for deterministic results -->
+  <!--<seed>2147483648</seed>-->
+
+  <!-- ========================== TEAM 1 ========================= -->
+  {% for e in entities %}
+  <entity>
+    <team_id>1</team_id>
+    <color>77 77 255</color>
+    <count>1</count>
+    <health>1</health>
+    <radius>1</radius>
+
+    <x>{% if e.x %}{{ e.x }}{% else %}0{% endif %}</x>
+    <y>{% if e.y %}{{ e.y }}{% else %}0{% endif %}</y>
+    <z>{% if e.z %}{{ e.z }}{% else %}0{% endif %}</z>
+    {% if plane %}<pitch>-20</pitch>{% endif %}
+    <heading>{% if e.heading %}{{ e.heading }}{% else %}0{% endif %}</heading>
+
+
+    <sensor>RigidBody6DOFStateSensor</sensor>
+    <controller>DirectController</controller>
+
+    <!-- Use this settings in SITL -->
+    <autonomy to_ardupilot_port="{% if e.to_ardupilot_port %}{{ e.to_ardupilot_port }}{% else %}9003{% endif %}"
+              from_ardupilot_port="{% if e.from_ardupilot_port %}{{ e.from_ardupilot_port }}{% else %}9002{% endif %}"
+              to_ardupilot_ip="{% if e.to_ardupilot_ip %}{{ e.to_ardupilot_ip }}{% else %}127.0.0.1{% endif %}"
+    {% if plane %}
+        >ArduPilot</autonomy>
+    <!-- Use this settings in HIL through mavproxy -->
+    <!-- <autonomy to_ardupilot_port="5501" from_ardupilot_port="5502" mavproxy_mode="true">ArduPilot</autonomy> -->
+    <!-- <motion_model drawVel="0" drawAngVel="0" drawAcc="0" use_launcher="1" launch_time="60" launch_accel="200">${motion_model=JSBSimControl}</motion_model> -->
+    <motion_model drawVel="0" drawAngVel="0" drawAcc="0">{% if e.motion_model %}{{ e.motion_model }}{% else %}JSBSimControl{% endif %}</motion_model>
+    <script_name>rascal_no_autopilot.xml</script_name>
+    <visual_model>{% if e.visual_model %}{{ e.visual_model }}{% else %}zephyr-blue{% endif %}</visual_model>
+    {% else %}
+    servo_map="[ motor_0 0 1000 +2000    346.41 1200.0 +1 ]
+               [ motor_1 1 1000 +2000    346.41 1200.0 +1 ]
+               [ motor_2 2 1000 +2000    346.41 1200.0 +1 ]
+               [ motor_3 3 1000 +2000    346.41 1200.0 +1 ]"
+        >ArduPilot</autonomy>
+    <motion_model write_csv="true">{% if e.motion_model %}{{ e.motion_model }}{% else %}Multirotor{% endif %}</motion_model>
+    <visual_model>{% if e.visual_model %}{{ e.visual_model }}{% else %}iris{% endif %}</visual_model>
+    {% endif %}
+  </entity>
+  {% endfor %}
+</runscript>