diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py
index 07a0e13b43654..b788843a13a8b 100644
--- a/Tools/autotest/vehicle_test_suite.py
+++ b/Tools/autotest/vehicle_test_suite.py
@@ -465,6 +465,47 @@ def progress_text(self, current_value):
         return (f"Want=({self.target.lat},{self.target.lng}) distance={self.horizontal_error(current_value)}")
 
 
+class WaitAndMaintainEKFFlags(WaitAndMaintain):
+    '''Waits for EKF status flags to include required_flags and have
+    error_bits *not* set.'''
+    def __init__(self, test_suite, required_flags, error_bits, **kwargs):
+        super(WaitAndMaintainEKFFlags, self).__init__(test_suite, **kwargs)
+        self.required_flags = required_flags
+        self.error_bits = error_bits
+        self.last_EKF_STATUS_REPORT = None
+
+    def announce_start_text(self):
+        return f"Waiting for EKF value {self.required_flags}"
+
+    def get_current_value(self):
+        self.last_EKF_STATUS_REPORT = self.test_suite.assert_receive_message('EKF_STATUS_REPORT', timeout=10)
+        return self.last_EKF_STATUS_REPORT.flags
+
+    def validate_value(self, value):
+        if value & self.error_bits:
+            return False
+
+        if (value & self.required_flags) != self.required_flags:
+            return False
+
+        return True
+
+    def success_text(self):
+        return "EKF Flags OK"
+
+    def timeoutexception(self):
+        self.progress("Last EKF status report:")
+        self.progress(self.test_suite.dump_message_verbose(self.last_EKF_STATUS_REPORT))
+
+        return AutoTestTimeoutException(f"Failed to get EKF.flags={self.required_flags}")
+
+    def progress_text(self, current_value):
+        error_bits_str = ""
+        if current_value & self.error_bits:
+            error_bits_str = " (error bits present)"
+        return (f"Want=({self.required_flags}) got={current_value}{error_bits_str}")
+
+
 class WaitAndMaintainArmed(WaitAndMaintain):
     def get_current_value(self):
         return self.test_suite.armed()
@@ -8017,33 +8058,8 @@ def wait_ekf_happy(self, timeout=45, require_absolute=True):
             error_bits |= mavutil.mavlink.ESTIMATOR_GPS_GLITCH
         self.wait_ekf_flags(required_value, error_bits, timeout=timeout)
 
-    def wait_ekf_flags(self, required_value, error_bits, timeout=30):
-        self.progress("Waiting for EKF value %u" % required_value)
-        last_print_time = 0
-        tstart = self.get_sim_time()
-        m = None
-        while timeout is None or self.get_sim_time_cached() < tstart + timeout:
-            m = self.mav.recv_match(type='EKF_STATUS_REPORT', blocking=True, timeout=timeout)
-            if m is None:
-                continue
-            current = m.flags
-            errors = current & error_bits
-            everything_ok = (errors == 0 and
-                             current & required_value == required_value)
-            if everything_ok or self.get_sim_time_cached() - last_print_time > 1:
-                self.progress("Wait EKF.flags: required:%u current:%u errors=%u" %
-                              (required_value, current, errors))
-                last_print_time = self.get_sim_time_cached()
-            if everything_ok:
-                self.progress("EKF Flags OK")
-                return True
-        m_str = str(m)
-        if m is not None:
-            m_str = self.dump_message_verbose(m)
-        self.progress("Last EKF_STATUS_REPORT message:")
-        self.progress(m_str)
-        raise AutoTestTimeoutException("Failed to get EKF.flags=%u" %
-                                       required_value)
+    def wait_ekf_flags(self, required_value, error_bits, **kwargs):
+        WaitAndMaintainEKFFlags(self, required_value, error_bits, **kwargs).run()
 
     def wait_gps_disable(self, position_horizontal=True, position_vertical=False, timeout=30):
         """Disable GPS and wait for EKF to report the end of assistance from GPS."""