diff --git a/Tools/autotest/default_params/quadplane-copter_tailsitter.parm b/Tools/autotest/default_params/quadplane-copter_tailsitter.parm
index acd8243d109cc7..a936774c6ce33b 100644
--- a/Tools/autotest/default_params/quadplane-copter_tailsitter.parm
+++ b/Tools/autotest/default_params/quadplane-copter_tailsitter.parm
@@ -31,3 +31,17 @@ Q_A_RAT_YAW_I    0.039192
 Q_A_RAT_YAW_IMAX 0.500000
 Q_A_RAT_YAW_P    0.391919
 Q_TRANS_DECEL 8
+
+# setup rangefinder for tailsitter
+SIM_SONAR_ROT    4
+SIM_SONAR_SCALE  10
+RNGFND1_TYPE     100
+RNGFND1_PIN      0
+RNGFND1_SCALING  10
+RNGFND1_MIN_CM   10
+RNGFND1_MAX_CM   5000
+RNGFND1_ORIENT   12
+RNGFND_LANDING   1
+RNGFND_LND_ORNT  12
+
+
diff --git a/Tools/autotest/quadplane.py b/Tools/autotest/quadplane.py
index 1282f9213c0625..f73a7918906bb5 100644
--- a/Tools/autotest/quadplane.py
+++ b/Tools/autotest/quadplane.py
@@ -1049,6 +1049,24 @@ def Tailsitter(self):
                 raise NotAchievedException("Changed throttle output on mode change to QHOVER")
         self.disarm_vehicle()
 
+    def CopterTailsitter(self):
+        '''copter tailsitter test'''
+        self.customise_SITL_commandline(
+            [],
+            defaults_filepath=self.model_defaults_filepath('quadplane-copter_tailsitter'),
+            model="quadplane-copter_tailsitter",
+            wipe=True,
+        )
+
+        self.reboot_sitl()
+        self.wait_ready_to_arm()
+        self.takeoff(60, mode='GUIDED')
+        self.context_collect("STATUSTEXT")
+        self.progress("Starting QLAND")
+        self.change_mode("QLAND")
+        self.wait_statustext("Rangefinder engaged")
+        self.wait_disarmed(timeout=100)
+
     def setup_ICEngine_vehicle(self):
         '''restarts SITL with an IC Engine setup'''
         model = "quadplane-ice"
@@ -1812,6 +1830,7 @@ def tests(self):
             self.QAssist,
             self.GyroFFT,
             self.Tailsitter,
+            self.CopterTailsitter,
             self.ICEngine,
             self.ICEngineMission,
             self.MAV_CMD_DO_ENGINE_CONTROL,