diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
index cbb3cd82905bb..03de9268c4f1b 100644
--- a/Tools/autotest/rover.py
+++ b/Tools/autotest/rover.py
@@ -3596,8 +3596,30 @@ def drain_self_mav_fn():
             raise e
         self.reboot_sitl()
 
+    def ClearMission(self, target_system=1, target_component=1):
+        '''check mission clearing'''
+
+        self.start_subtest("Clear via mission_clear_all message")
+        self.upload_simple_relhome_mission([
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 20, 0, 20),
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 20, 0, 20),
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 20, 0, 20),
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 20, 0, 20),
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 20, 0, 20),
+        ])
+        self.set_current_waypoint(3)
+
+        self.mav.mav.mission_clear_all_send(
+            target_system,
+            target_component,
+            mavutil.mavlink.MAV_MISSION_TYPE_MISSION
+        )
+
+        self.assert_current_waypoint(0)
+
     def GCSMission(self):
         '''check MAVProxy's waypoint handling of missions'''
+
         target_system = 1
         target_component = 1
         mavproxy = self.start_mavproxy()
@@ -3605,7 +3627,7 @@ def GCSMission(self):
         self.delay_sim_time(1)
         if self.get_parameter("MIS_TOTAL") != 0:
             raise NotAchievedException("Failed to clear mission")
-        m = self.assert_receive_message('MISSION_CURRENT', timeout=5)
+        m = self.assert_receive_message('MISSION_CURRENT', timeout=5, verbose=True)
         if m.seq != 0:
             raise NotAchievedException("Bad mission current")
         self.load_mission_using_mavproxy(mavproxy, "rover-gripper-mission.txt")
@@ -6830,6 +6852,7 @@ def tests(self):
             self.MissionPolyEnabledPreArm,
             self.OpticalFlow,
             self.RCDuplicateOptionsExist,
+            self.ClearMission,
         ])
         return ret