diff --git a/src/integration_tests/CMakeLists.txt b/src/integration_tests/CMakeLists.txt
index ebb5235f7..fd2cf8905 100644
--- a/src/integration_tests/CMakeLists.txt
+++ b/src/integration_tests/CMakeLists.txt
@@ -10,6 +10,7 @@ add_executable(integration_tests_runner
     action_transition_multicopter_fixedwing.cpp
     action_goto.cpp
     action_hold.cpp
+    autopilot_server_configuration.cpp
     calibration.cpp
     connection.cpp
     follow_me.cpp
diff --git a/src/integration_tests/autopilot_server_configuration.cpp b/src/integration_tests/autopilot_server_configuration.cpp
new file mode 100644
index 000000000..0287bf60c
--- /dev/null
+++ b/src/integration_tests/autopilot_server_configuration.cpp
@@ -0,0 +1,51 @@
+#include "log.h"
+#include "future"
+#include "chrono"
+#include "mavsdk.h"
+#include "plugins/mavlink_passthrough/mavlink_passthrough.h"
+#include <gtest/gtest.h>
+#include <thread>
+
+using namespace mavsdk;
+
+TEST(SystemTest, Configuration)
+{
+    Mavsdk mavsdk_groundstation{Mavsdk::Configuration{ComponentType::GroundStation}};
+
+    Mavsdk::Configuration config{ComponentType::Autopilot};
+    MAV_TYPE TEST_VARIABLE = MAV_TYPE_GROUND_ROVER;
+    config.set_mav_type(TEST_VARIABLE);
+    Mavsdk mavsdk_autopilot{config};
+
+    ASSERT_EQ(
+        mavsdk_groundstation.add_any_connection("udpin://0.0.0.0:17000"),
+        ConnectionResult::Success);
+    ASSERT_EQ(
+        mavsdk_autopilot.add_any_connection("udpout://127.0.0.1:17000"), ConnectionResult::Success);
+
+    auto maybe_system = mavsdk_groundstation.first_autopilot(10.0);
+    ASSERT_TRUE(maybe_system);
+    auto system = maybe_system.value();
+
+    ASSERT_TRUE(system->has_autopilot());
+
+    auto mavlink_passthrough = MavlinkPassthrough{system};
+
+    std::promise<void> promise;
+    auto future = promise.get_future();
+    mavlink_passthrough.subscribe_message(
+        MAVLINK_MSG_ID_HEARTBEAT, [&promise, TEST_VARIABLE](const mavlink_message_t& message) {
+            mavlink_heartbeat_t heartbeat;
+            mavlink_msg_heartbeat_decode(&message, &heartbeat);
+            LogInfo() << "Received heartbeat from system " << static_cast<int>(message.sysid)
+                      << " with type " << static_cast<int>(heartbeat.type);
+            ASSERT_EQ(heartbeat.type, TEST_VARIABLE);
+            promise.set_value();
+        });
+
+    // Wait for the message or timeout
+    if (future.wait_for(std::chrono::seconds(5)) == std::future_status::timeout) {
+        LogErr() << "Timeout: No heartbeat message received within 10 seconds";
+        FAIL();
+    }
+}