diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index a58c88bcf6..3fb0ed10d5 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -7328,6 +7328,23 @@ class AutoTestCopter(AutoTest):
         self.set_parameter('GPS_TYPE', 1)
         self.do_RTL()
 
+    def GPSForYaw(self):
+        self.load_default_params_file("copter-gps-for-yaw.parm")
+        self.reboot_sitl()
+        ex = None
+        try:
+            self.wait_gps_fix_type_gte(6, message_type="GPS2_RAW", verbose=True)
+            m = self.assert_receive_message("GPS2_RAW")
+            self.progress(self.dump_message_verbose(m))
+            if m.yaw == 0:
+                raise NotAchievedException("Expected to get GPS-from-yaw")
+            self.wait_ready_to_arm()
+        except Exception as e:
+            self.print_exception_caught(e)
+            ex = e
+        if ex is not None:
+            raise ex
+
     # a wrapper around all the 1A,1B,1C..etc tests for travis
     def tests1(self):
         ret = ([])
@@ -7945,6 +7962,10 @@ class AutoTestCopter(AutoTest):
                  "Change speed (down) during misison",
                  self.WPNAV_SPEED_DN),
 
+            Test("GPSForYaw",
+                 "Moving baseline GPS yaw",
+                 self.GPSForYaw),
+
             ("DefaultIntervalsFromFiles",
              "Test setting default mavlink message intervals from files",
              self.DefaultIntervalsFromFiles),
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index b8ff738819..1337f5a0aa 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -9385,13 +9385,15 @@ switch value'''
             self.drain_mav()
             self.delay_sim_time(0.5)
 
-    def wait_gps_fix_type_gte(self, fix_type, timeout=30):
+    def wait_gps_fix_type_gte(self, fix_type, timeout=30, message_type="GPS_RAW_INT", verbose=False):
         tstart = self.get_sim_time()
         while True:
             now = self.get_sim_time_cached()
             if now - tstart > timeout:
                 raise AutoTestTimeoutException("Did not get good GPS lock")
-            m = self.mav.recv_match(type="GPS_RAW_INT", blocking=True, timeout=0.1)
+            m = self.mav.recv_match(type=message_type, blocking=True, timeout=0.1)
+            if verbose:
+                self.progress("Received: %s" % str(m))
             if m is None:
                 continue
             if m.fix_type >= fix_type:
@@ -11097,3 +11099,8 @@ switch value'''
         for d in defaults_filepath:
             defaults_list.append(os.path.join(testdir, d))
         return defaults_list
+
+    def load_default_params_file(self, filename):
+        '''load a file from Tools/autotest/default_params'''
+        filepath = util.reltopdir(os.path.join("Tools", "autotest", "default_params", filename))
+        self.repeatedly_apply_parameter_file(filepath)