diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 59df7171c5..2885bd6f27 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -143,20 +143,16 @@ def land(mavproxy, mav, timeout=60):
     mavproxy.send('rc 3 1400\n')
     tstart = time.time()
 
-    if wait_altitude(mav, -5, 0):
-        print("LANDING OK")
-        return True
-    else:
-        print("LANDING FAILED")
-        return False
+    ret = wait_altitude(mav, -5, 0)
+    print("LANDING: ok=%s" % ret)
+    return ret
+
 
 def circle(mavproxy, mav, maxaltchange=10, holdtime=90, timeout=35):
     '''fly circle'''
     print("FLY CIRCLE")
     mavproxy.send('switch 1\n') # CIRCLE mode
-    mavproxy.expect('CIRCLE>')
-    mavproxy.send('status\n')
-    mavproxy.expect('>')
+    wait_mode(mav, 'CIRCLE')
     m = mav.recv_match(type='VFR_HUD', blocking=True)
     start_altitude = m.alt
     tstart = time.time()
@@ -175,21 +171,27 @@ def fly_mission(mavproxy, mav, height_accuracy=-1, target_altitude=None):
     print("Fly a mission")
     global homeloc
     global num_wp
+    mavproxy.send('wp set 1\n')
     mavproxy.send('switch 4\n') # auto mode
-    mavproxy.expect('AUTO>')
+    wait_mode(mav, 'AUTO')
 
     wait_altitude(mav, 30, 40)
-    if wait_waypoint(mav, 1, num_wp):
-        print("MISSION COMPLETE")
-        return True
-    else:
-        return False
+    ret = wait_waypoint(mav, 1, num_wp, timeout=90)
+
+    print("MISSION COMPLETE: passed=%s" % ret)
+
+    # wait here until ready
+    mavproxy.send('switch 5\n')
+    wait_mode(mav, 'LOITER')
+
+    return ret
 
     #if not wait_distance(mav, 30, timeout=120):
     #    return False
     #if not wait_location(mav, homeloc, timeout=600, target_altitude=target_altitude, height_accuracy=height_accuracy):
     #    return False
 
+
 def load_mission(mavproxy, mav, filename):
     '''load a mission from a file'''
     global num_wp
@@ -203,7 +205,8 @@ def load_mission(mavproxy, mav, filename):
     num_wp = wploader.count()
     print("loaded mission")
     for i in range(num_wp):
-        print (dir(wploader.wp(i)))
+        print wploader.wp(i)
+    return True
 
 def setup_rc(mavproxy):
     '''setup RC override control'''
@@ -301,17 +304,19 @@ def fly_ArduCopter(viewerip=None):
         if not circle(mavproxy, mav):
             failed = True
 
-        # fly the stores mission
+        # fly the stored mission
         if not fly_mission(mavproxy, mav,height_accuracy = 0.5, target_altitude=10):
             failed = True
 
         #fly_mission(mavproxy, mav, os.path.join(testdir, "mission_ttt.txt"), height_accuracy=0.2)
 
-        if not load_mission(mavproxy, mav, os.path.join(testdir, "mission_ttt.txt")):
+        if not load_mission(mavproxy, mav, os.path.join(testdir, "mission1.txt")):
             failed = True
 
         if not fly_mission(mavproxy, mav,height_accuracy = 0.5, target_altitude=10):
             failed = True
+        else:
+            print("Flew mission_ttt OK")
 
         if not land(mavproxy, mav):
             failed = True
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index 8d28325873..3d929a4452 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -7,8 +7,8 @@ expect_list = []
 def message_hook(mav, msg):
     '''called as each mavlink msg is received'''
     global expect_list
-    if msg.get_type() in [ 'NAV_CONTROLLER_OUTPUT', 'GPS_RAW' ]:
-        print(msg)
+#    if msg.get_type() in [ 'NAV_CONTROLLER_OUTPUT', 'GPS_RAW' ]:
+#        print(msg)
     for p in expect_list:
         try:
             p.read_nonblocking(100, timeout=0)
@@ -143,27 +143,30 @@ def wait_waypoint(mav, wpnum_start, wpnum_end, allow_skip=True, timeout=60):
     start_wp = m.seq
     current_wp = start_wp
 
-    print("\n***wait for waypoint ranges***\n\n\n")
+    print("\n***wait for waypoint ranges start=%u end=%u ***\n\n\n" % (wpnum_start, wpnum_end))
     if start_wp != wpnum_start:
         print("Expected start waypoint %u but got %u" % (wpnum_start, start_wp))
         return False
 
     while time.time() < tstart + timeout:
         m = mav.recv_match(type='WAYPOINT_CURRENT', blocking=True)
-        print("WP %u" % m.seq)
-        if m.seq == current_wp:
-            continue
-        if m.seq == current_wp+1 or (m.seq > current_wp+1 and allow_skip):
-            print("Starting new waypoint %u" % m.seq)
+        seq = m.seq
+        m = mav.recv_match(type='NAV_CONTROLLER_OUTPUT', blocking=True)
+        wp_dist = m.wp_dist
+        print("WP %u (wp_dist=%u)" % (seq, wp_dist))
+        if seq == current_wp+1 or (seq > current_wp+1 and allow_skip):
+            print("Starting new waypoint %u" % seq)
             tstart = time.time()
-            current_wp = m.seq
-            if current_wp == wpnum_end:
-                print("Reached final waypoint %u" % m.seq)
-                return True
-        if m.seq > current_wp+1:
-            print("Skipped waypoint! Got wp %u expected %u" % (m.seq, current_wp+1))
+            current_wp = seq
+            # the wp_dist check is a hack until we can sort out the right seqnum
+            # for end of mission
+        if current_wp == wpnum_end or (current_wp == wpnum_end-1 and wp_dist < 2):
+            print("Reached final waypoint %u" % seq)
+            return True
+        if seq > current_wp+1:
+            print("Skipped waypoint! Got wp %u expected %u" % (seq, current_wp+1))
             return False
-    print("Timed out waiting for waypoint %u" % wpnum_end)
+    print("Timed out waiting for waypoint %u of %u" % (wpnum_end, wpnum_end))
     return False
 
 def save_wp(mavproxy, mav):