diff --git a/tests/config_with_sensor.py b/tests/config_with_sensor.py
new file mode 100755
index 00000000..4701c608
--- /dev/null
+++ b/tests/config_with_sensor.py
@@ -0,0 +1,105 @@
+#!/usr/bin/python3
+
+# This test uses the configuration object idiom to set up the camera configuration,
+# but we additionally exercise the behaviour of the SensorConfiguration object
+# inside the CameraConfiguration.
+
+# The camera mode chosen should follow the sensor configuration if that's there,
+# otherwise the raw stream configuration.
+
+from picamera2 import Picamera2
+
+picam2 = Picamera2()
+
+max_mode = None
+min_mode = None
+for mode in picam2.sensor_modes:
+    if max_mode is None or mode['size'] > max_mode['size']:
+        max_mode = mode
+    if min_mode is None or mode['size'] < min_mode['size']:
+        min_mode = mode
+
+print("Biggest mode:", max_mode)
+print("Smallest mode:", min_mode)
+
+if max_mode['size'] != min_mode['size']:
+
+    picam2.still_configuration.main.size = min_mode['size']
+    picam2.still_configuration.raw.size = min_mode['size']
+    picam2.still_configuration.raw.format = min_mode['format'].format
+
+    picam2.configure("still")
+
+    # Check we got the config we wanted.
+    config = picam2.camera_configuration()
+
+    if config['main']['size'] != min_mode['size']:
+        print("ERROR: main stream size mismatch")
+
+    if config['raw']['size'] != min_mode['size']:
+        print("ERROR: raw stream size mismatch")
+
+    # Now change the main and raw stream sizes.
+    picam2.still_configuration.main.size = max_mode['size']
+    picam2.still_configuration.raw.size = max_mode['size']
+    picam2.still_configuration.raw.format = max_mode['format'].format
+
+    picam2.configure("still")
+
+    # The main stream size should change, but the raw stream size should be the same as before,
+    # because we haven't updated the sensor config.
+    config = picam2.camera_configuration()
+
+    if config['main']['size'] != max_mode['size']:
+        print("ERROR: main stream size mismatch")
+
+    if config['raw']['size'] != min_mode['size']:
+        print("ERROR: raw stream size changed unexpectedly")
+
+    if picam2.still_configuration.raw.size != picam2.still_configuration.sensor.output_size:
+        print("ERROR: raw stream and sensor sizes should match")
+
+    # Now update the sensor config, and the raw stream should change too.
+    picam2.still_configuration.sensor.output_size = max_mode['size']
+    picam2.still_configuration.sensor.bit_depth = max_mode['format'].bit_depth
+
+    picam2.configure("still")
+    config = picam2.camera_configuration()
+
+    if config['main']['size'] != max_mode['size']:
+        print("ERROR: main stream size mismatch")
+
+    if config['raw']['size'] != max_mode['size']:
+        print("ERROR: raw stream has not updated")
+
+    if picam2.still_configuration.raw.size != picam2.still_configuration.sensor.output_size:
+        print("ERROR: raw stream and sensor sizes should match")
+
+    # Final test. Let's check we can clear the sensor config out, and it will obey the
+    # raw stream config again. No change to the main stream.
+    picam2.still_configuration.sensor = None
+    picam2.still_configuration.raw.size = min_mode['size']
+    picam2.still_configuration.raw.format = min_mode['format'].format
+
+    picam2.configure("still")
+    config = picam2.camera_configuration()
+
+    if config['main']['size'] != max_mode['size']:
+        print("ERROR: main stream size mismatch")
+
+    if config['raw']['size'] != min_mode['size']:
+        print("ERROR: raw stream has been ignored")
+
+    if picam2.still_configuration.raw.size != picam2.still_configuration.sensor.output_size:
+        print("ERROR: raw stream and sensor sizes should match")
+
+    # Actually, one more thing. Let's overwrite the sensor config in the current camera
+    # config and check that the raw stream changes again. Currently it's "min_mode".
+
+    config = picam2.camera_configuration()
+    config['sensor'] = {'output_size': max_mode['size'], 'bit_depth': max_mode['format'].bit_depth}
+    picam2.configure(config)
+
+    config = picam2.camera_configuration()
+    if config['raw']['size'] != max_mode['size']:
+        print("ERROR: raw stream has been ignored")
diff --git a/tests/test_list.txt b/tests/test_list.txt
index 06b39af0..478264f9 100644
--- a/tests/test_list.txt
+++ b/tests/test_list.txt
@@ -54,6 +54,7 @@ tests/close_test.py
 tests/close_test_multiple.py
 tests/codecs.py
 tests/colour_spaces.py
+tests/config_with_sensor.py
 tests/configurations.py
 tests/context_test.py
 tests/display_transform_null.py