diff --git a/Tools/autotest/default_params/airsim-quadX.parm b/Tools/autotest/default_params/airsim-quadX.parm
new file mode 100644
index 0000000000..87ed353adb
--- /dev/null
+++ b/Tools/autotest/default_params/airsim-quadX.parm
@@ -0,0 +1,20 @@
+ATC_RAT_PIT_D    0.003
+ATC_RAT_PIT_I    0.25
+ATC_RAT_PIT_P    0.25
+ATC_RAT_RLL_D    0.003
+ATC_RAT_RLL_I    0.25
+ATC_RAT_RLL_P    0.25
+DISARM_DELAY     0.000000
+FRAME_TYPE       1.000000
+FS_CRASH_CHECK   0.000000
+LOG_BITMASK      65535
+MOT_THST_HOVER   0.461
+MOT_THST_EXPO    0.0
+SCHED_LOOP_RATE  300
+WPNAV_ACCEL      400
+WPNAV_ACCEL_Z    200
+WPNAV_SPEED_UP   400
+WPNAV_SPEED_DN   300
+WPNAV_SPEED     2000
+RTL_ALT         2500
+ANGLE_MAX       3000
diff --git a/Tools/autotest/pysim/vehicleinfo.py b/Tools/autotest/pysim/vehicleinfo.py
index 83d52f9574..b4e038002c 100644
--- a/Tools/autotest/pysim/vehicleinfo.py
+++ b/Tools/autotest/pysim/vehicleinfo.py
@@ -94,7 +94,8 @@ class VehicleInfo(object):
             },
             "airsim-copter": {
                 "waf_target": "bin/arducopter",
-                "default_params_filename": "default_params/copter.parm",
+                "default_params_filename": ["default_params/copter.parm",
+                                            "default_params/airsim-quadX.parm"],
             },
             # HELICOPTER
             "heli": {
diff --git a/libraries/SITL/examples/Airsim/quadX.parm b/libraries/SITL/examples/Airsim/quadX.parm
deleted file mode 100644
index 495e764515..0000000000
--- a/libraries/SITL/examples/Airsim/quadX.parm
+++ /dev/null
@@ -1,14 +0,0 @@
-ATC_RAT_PIT_D    0.001000
-ATC_RAT_PIT_I    0.070000
-ATC_RAT_PIT_P    0.070000
-ATC_RAT_RLL_D    0.001000
-ATC_RAT_RLL_I    0.070000
-ATC_RAT_RLL_P    0.070000
-AUTOTUNE_AXES    1.000000
-DISARM_DELAY     0.000000
-FRAME_TYPE       1.000000
-FS_CRASH_CHECK   0.000000
-LOG_BITMASK      65535.000000
-MOT_THST_HOVER   0.416806
-PSC_POSZ_P       0.500000
-PSC_VELZ_P       2.000000
diff --git a/libraries/SITL/examples/Airsim/quadX_lidar.parm b/libraries/SITL/examples/Airsim/quadX_lidar.parm
index c67bea8adf..68bf8fa009 100644
--- a/libraries/SITL/examples/Airsim/quadX_lidar.parm
+++ b/libraries/SITL/examples/Airsim/quadX_lidar.parm
@@ -1,16 +1,2 @@
-ATC_RAT_PIT_D    0.001000
-ATC_RAT_PIT_I    0.070000
-ATC_RAT_PIT_P    0.070000
-ATC_RAT_RLL_D    0.001000
-ATC_RAT_RLL_I    0.070000
-ATC_RAT_RLL_P    0.070000
-AUTOTUNE_AXES    1.000000
-DISARM_DELAY     0.000000
-FRAME_TYPE       1.000000
-FS_CRASH_CHECK   0.000000
-LOG_BITMASK      65535.000000
-MOT_THST_HOVER   0.416806
-PSC_POSZ_P       0.500000
-PSC_VELZ_P       2.000000
 PRX_TYPE 12
 AVOID_ENABLE 7