diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 78aca64ac5..4ebb819726 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -1318,6 +1318,9 @@ def fly_CopterAVC(viewerip=None, map=False):
         setup_rc(mavproxy)
         homeloc = mav.location()
 
+        # wait 10sec to allow EKF to settle
+        wait_seconds(mav, 10)
+
         # Arm
         print("# Arm motors")
         if not arm_motors(mavproxy, mav):