diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index a6d6f18f8c6db7..468aec6119fe35 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -1876,6 +1876,22 @@ def GPSGlitchAuto(self, timeout=180):
                 self.show_gps_and_sim_positions(False)
             raise e
 
+        # stop and test loss of GPS for a short time - it should resume GPS use without falling back into a non aiding mode
+        self.change_mode("LOITER")
+        self.set_parameters({
+            "SIM_GPS_DISABLE": 1,
+        })
+        self.delay_sim_time(2)
+        self.set_parameters({
+            "SIM_GPS_DISABLE": 0,
+        })
+        # regaining GPS should not result in it falling back to a non-navigation mode
+        self.wait_ekf_flags(mavutil.mavlink.ESTIMATOR_POS_HORIZ_ABS, 0, timeout=1)
+        # It should still be navigating after enougnh time has passed for any pending timeouts to activate.
+        self.delay_sim_time(10)
+        self.wait_ekf_flags(mavutil.mavlink.ESTIMATOR_POS_HORIZ_ABS, 0, timeout=1)
+        self.change_mode("AUTO")
+
         # record time and position
         tstart = self.get_sim_time()
 
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 1bf046d5f2e8a2..395a8936bd1edb 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -2139,8 +2139,26 @@ def validate_global_position_int_against_simstate(mav, m):
             self.delay_sim_time(20)
             self.change_mode("RTL")
             self.wait_distance_to_home(100, 200, timeout=200)
+            # go into LOITER to create additonal time for a GPS re-enable test
+            self.change_mode("LOITER")
             self.set_parameter("SIM_GPS_DISABLE", 0)
+            t_enabled = self.get_sim_time()
+            # The EKF should wait for GPS checks to pass when we are still able to navigate using dead reckoning
+            # to prevent bad GPS being used when coming back after loss of lock due to interence.
+            self.wait_ekf_flags(mavutil.mavlink.ESTIMATOR_POS_HORIZ_ABS, 0, timeout=15)
+            if self.get_sim_time() < (t_enabled+9):
+                raise NotAchievedException("GPS use re-started too quickly")
+            # wait for EKF and vehicle position to stabilise, then test response to jamming
+            self.delay_sim_time(20)
+            self.set_parameter("SIM_GPS_JAM", 1)
             self.delay_sim_time(10)
+            self.set_parameter("SIM_GPS_JAM", 0)
+            t_enabled = self.get_sim_time()
+            # The EKF should wait for GPS checks to pass when we are still able to navigate using dead reckoning
+            # to prevent bad GPS being used when coming back after loss of lock due to interence.
+            self.wait_ekf_flags(mavutil.mavlink.ESTIMATOR_POS_HORIZ_ABS, 0, timeout=15)
+            if self.get_sim_time() < (t_enabled+9):
+                raise NotAchievedException("GPS use re-started too quickly after jamming")
             self.set_rc(3, 1000)
             self.fly_home_land_and_disarm()
             self.progress("max-divergence: %fm" % (self.max_divergence,))