diff --git a/Tools/autotest/antennatracker.py b/Tools/autotest/antennatracker.py
index 438e6d7ce6658..b186711637b6b 100644
--- a/Tools/autotest/antennatracker.py
+++ b/Tools/autotest/antennatracker.py
@@ -175,6 +175,30 @@ def disabled_tests(self):
             "CPUFailsafe": " tracker doesn't have a CPU failsafe",
         }
 
+    def GPSForYaw(self):
+        '''Moving baseline GPS yaw'''
+        self.context_push()
+
+        self.load_default_params_file("tracker-gps-for-yaw.parm")
+        self.reboot_sitl()
+
+        self.wait_gps_fix_type_gte(6, message_type="GPS2_RAW", verbose=True)
+        tstart = self.get_sim_time()
+        while True:
+            if self.get_sim_time_cached() - tstart > 20:
+                break
+            m_gps_raw = self.assert_receive_message("GPS2_RAW", verbose=True)
+            m_sim = self.assert_receive_message("SIMSTATE", verbose=True)
+            gps_raw_hdg = m_gps_raw.yaw * 0.01
+            sim_hdg = mavextra.wrap_360(math.degrees(m_sim.yaw))
+            if abs(gps_raw_hdg - sim_hdg) > 5:
+                raise NotAchievedException("GPS_RAW not tracking simstate yaw")
+            self.progress(f"yaw match ({gps_raw_hdg} vs {sim_hdg}")
+
+        self.context_pop()
+
+        self.reboot_sitl()
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestTracker, self).tests()
@@ -186,5 +210,6 @@ def tests(self):
             self.NMEAOutput,
             self.SCAN,
             self.BaseMessageSet,
+            self.GPSForYaw,
         ])
         return ret
diff --git a/Tools/autotest/default_params/tracker-gps-for-yaw.parm b/Tools/autotest/default_params/tracker-gps-for-yaw.parm
new file mode 100644
index 0000000000000..e978b5137679c
--- /dev/null
+++ b/Tools/autotest/default_params/tracker-gps-for-yaw.parm
@@ -0,0 +1,11 @@
+# SITL GPS-for-yaw using two simulated UBlox GPSs
+EK3_SRC1_YAW 2
+GPS_AUTO_CONFIG 0
+GPS_TYPE 17
+GPS_TYPE2 18
+GPS_POS1_Y -0.2
+GPS_POS2_Y 0.2
+SIM_GPS_POS_Y -0.2
+SIM_GPS2_POS_Y 0.2
+SIM_GPS2_DISABLE 0
+SIM_GPS2_HDG 1