diff --git a/test/mavsdk_tests/CMakeLists.txt b/test/mavsdk_tests/CMakeLists.txt
index 0476682b58..0439e25512 100644
--- a/test/mavsdk_tests/CMakeLists.txt
+++ b/test/mavsdk_tests/CMakeLists.txt
@@ -14,6 +14,7 @@ if(MAVSDK_FOUND)
         autopilot_tester.cpp
         test_mission_multicopter.cpp
         test_mission_plane.cpp
+        test_mission_vtol.cpp
     )
 
     target_link_libraries(mavsdk_tests
diff --git a/test/mavsdk_tests/autopilot_tester.cpp b/test/mavsdk_tests/autopilot_tester.cpp
index 3306e6055f..7d6993de1a 100644
--- a/test/mavsdk_tests/autopilot_tester.cpp
+++ b/test/mavsdk_tests/autopilot_tester.cpp
@@ -14,7 +14,7 @@ void AutopilotTester::connect(const std::string uri)
 
     std::cout << "Waiting for system connect" << std::endl;
     REQUIRE(poll_condition_with_timeout(
-        [this]() { return _mavsdk.is_connected(); }, std::chrono::seconds(10)));
+        [this]() { return _mavsdk.is_connected(); }, std::chrono::seconds(25)));
 
     auto& system = _mavsdk.system();
 
@@ -56,6 +56,18 @@ void AutopilotTester::land()
     REQUIRE(result == Action::Result::SUCCESS);
 }
 
+void AutopilotTester::transition_to_fixedwing()
+{
+    const auto result = _action->transition_to_fixedwing();
+    REQUIRE(result == Action::Result::SUCCESS);
+}
+
+void AutopilotTester::transition_to_multicopter()
+{
+    const auto result = _action->transition_to_multicopter();
+    REQUIRE(result == Action::Result::SUCCESS);
+}
+
 void AutopilotTester::wait_until_disarmed()
 {
     REQUIRE(poll_condition_with_timeout(
diff --git a/test/mavsdk_tests/autopilot_tester.h b/test/mavsdk_tests/autopilot_tester.h
index 6418b95072..89be442a1a 100644
--- a/test/mavsdk_tests/autopilot_tester.h
+++ b/test/mavsdk_tests/autopilot_tester.h
@@ -26,6 +26,8 @@ public:
     void arm();
     void takeoff();
     void land();
+    void transition_to_fixedwing();
+    void transition_to_multicopter();
     void wait_until_disarmed();
     void wait_until_hovering();
     void prepare_square_mission(MissionOptions mission_options);
diff --git a/test/mavsdk_tests/test_mission_vtol.cpp b/test/mavsdk_tests/test_mission_vtol.cpp
new file mode 100644
index 0000000000..eecaf3ca27
--- /dev/null
+++ b/test/mavsdk_tests/test_mission_vtol.cpp
@@ -0,0 +1,25 @@
+//
+// VTOL mission test.
+//
+// Author: Lorenz Meier <lorenz@px4.io>
+
+#include <mavsdk/mavsdk.h>
+#include <mavsdk/plugins/action/action.h>
+#include <mavsdk/plugins/telemetry/telemetry.h>
+#include <iostream>
+#include <string>
+#include "autopilot_tester.h"
+
+
+TEST_CASE("Takeoff, transition and RTL", "[vtol]")
+{
+    AutopilotTester tester;
+    tester.connect(connection_url);
+    tester.wait_until_ready();
+    tester.arm();
+    tester.takeoff();
+    tester.wait_until_hovering();
+    tester.transition_to_fixedwing();
+    tester.execute_rtl();
+    tester.wait_until_disarmed();
+}