diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 675ce2808e..0f72b72f7b 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -6924,6 +6924,42 @@ class AutoTestCopter(AutoTest):
         if not ok:
             raise NotAchievedException("check_replay failed")
 
+    def DefaultIntervalsFromFiles(self):
+        ex = None
+        intervals_filepath = util.reltopdir("message-intervals-chan0.txt")
+        self.progress("Using filepath (%s)" % intervals_filepath)
+        try:
+            with open(intervals_filepath, "w") as f:
+                f.write("""30 50
+28 100
+29 200
+""")
+
+            # other tests may have explicitly set rates, so wipe parameters:
+            def custom_stream_rate_setter():
+                for stream in mavutil.mavlink.MAV_DATA_STREAM_EXTRA3, mavutil.mavlink.MAV_DATA_STREAM_RC_CHANNELS:
+                    self.set_streamrate(5, stream=stream)
+
+            self.customise_SITL_commandline(
+                [],
+                wipe=True,
+                set_streamrate_callback=custom_stream_rate_setter,
+            )
+
+            self.assert_message_rate_hz("ATTITUDE", 20)
+            self.assert_message_rate_hz("SCALED_PRESSURE", 5)
+
+        except Exception as e:
+            self.print_exception_caught(e)
+            ex = e
+
+        os.unlink(intervals_filepath)
+
+        self.reboot_sitl()
+
+        if ex is not None:
+            raise ex
+
     def BaroDrivers(self):
         sensors = [
             ("MS5611", 2),
@@ -7919,6 +7955,9 @@ class AutoTestCopter(AutoTest):
                  "Change speed (down) during misison",
                  self.WPNAV_SPEED_DN),
 
+            ("DefaultIntervalsFromFiles",
+             "Test setting default mavlink message intervals from files",
+             self.DefaultIntervalsFromFiles),
 
             Test("GPSTypes",
                  "Test simulated GPS types",
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index b70dda552e..2a2e372a31 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -1676,7 +1676,7 @@ class AutoTest(ABC):
         self.progress("Calling initialise-after-reboot")
         self.initialise_after_reboot_sitl()
 
-    def set_streamrate(self, streamrate, timeout=20):
+    def set_streamrate(self, streamrate, timeout=20, stream=mavutil.mavlink.MAV_DATA_STREAM_ALL):
         '''set MAV_DATA_STREAM_ALL; timeout is wallclock time'''
         tstart = time.time()
         while True:
@@ -1685,7 +1685,7 @@ class AutoTest(ABC):
             self.mav.mav.request_data_stream_send(
                 1,
                 1,
-                mavutil.mavlink.MAV_DATA_STREAM_ALL,
+                stream,
                 streamrate,
                 1)
             m = self.mav.recv_match(type='SYSTEM_TIME',
@@ -2146,7 +2146,12 @@ class AutoTest(ABC):
         self.set_streamrate(self.sitl_streamrate())
         self.progress("Reboot complete")
 
-    def customise_SITL_commandline(self, customisations, model=None, defaults_filepath=None, wipe=False):
+    def customise_SITL_commandline(self,
+                                   customisations,
+                                   model=None,
+                                   defaults_filepath=None,
+                                   wipe=False,
+                                   set_streamrate_callback=None):
         '''customisations could be "--uartF=sim:nmea" '''
         self.contexts[-1].sitl_commandline_customised = True
         self.stop_SITL()
@@ -2166,7 +2171,10 @@ class AutoTest(ABC):
             except IOError:
                 pass
             break
-        self.set_streamrate(self.sitl_streamrate())
+        if set_streamrate_callback is not None:
+            set_streamrate_callback()
+        else:
+            self.set_streamrate(self.sitl_streamrate())
         m = self.mav.recv_match(type='RC_CHANNELS', blocking=True, timeout=15)
         if m is None:
             raise NotAchievedException("No RC_CHANNELS message after restarting SITL")