diff --git a/Tools/autotest/ArduPlane.parm b/Tools/autotest/ArduPlane.parm
index 7662991424..ffbafa59e0 100644
--- a/Tools/autotest/ArduPlane.parm
+++ b/Tools/autotest/ArduPlane.parm
@@ -7,7 +7,8 @@ TRIM_THROTTLE   50
 LIM_PITCH_MIN   -2000
 LIM_PITCH_MAX   2500
 LIM_ROLL_CD     6500
-LAND_PITCH_CD   300
+LAND_PITCH_CD   100
+LAND_FLARE_SEC  5
 WHEELSTEER_D      0.1
 WHEELSTEER_I      0.5
 WHEELSTEER_IMAX   500
@@ -18,7 +19,6 @@ ARSP2PTCH_I     0.1
 ARSPD_FBW_MAX   30
 ARSPD_FBW_MIN   10
 KFF_RDDRMIX     0.5
-KFF_PTCHCOMP    0.3
 THR_MAX		100
 ENRGY2THR_P     0.25
 ENRGY2THR_D     0.2
@@ -57,8 +57,16 @@ FLTMODE5        2
 FLTMODE6        0
 FLTMODE_CH      8
 PTCH2SRV_P      1.5
-RLL2SRV_I       0.01
-RLL2SRV_IMAX    100
-RLL2SRV_P       0.8
 WP_LOITER_RAD   80
+WP_RADIUS       50
 YW2SRV_P        1.0
+RLL2SRV_D        0
+RLL2SRV_I        0.01
+RLL2SRV_P        2.0
+RLL2SRV_RMAX     0
+RLL2SRV_TCONST   0.5
+PTCH2SRV_D       0.0
+PTCH2SRV_I       0.2
+PTCH2SRV_P       1.5
+PTCH2SRV_RLL     1.25
+NAVL1_PERIOD     21
diff --git a/Tools/autotest/ap1.txt b/Tools/autotest/ap1.txt
index 9704225386..7dd844789f 100644
--- a/Tools/autotest/ap1.txt
+++ b/Tools/autotest/ap1.txt
@@ -3,7 +3,7 @@ QGC WPL 110
 1	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361553	149.163956	100.000000	1
 2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364540	149.162857	100.000000	1
 3	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361721	149.161835	40.000000	1
-4	0	3	178	0.000000	12.00000	0.000000	0.000000	0.000000	0.000000	15.000000	1
-5	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.367970	149.164124	25.000000	1
-6	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.366814	149.165878	20.000000	1
+4	0	3	178	0.000000	13.00000	0.000000	0.000000	0.000000	0.000000	15.000000	1
+5	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.367970	149.164124	28.000000	1
+6	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.366814	149.165878	28.000000	1
 7	0	3	21	0.000000	0.000000	0.000000	0.000000	-35.362911	149.165222	0.000000	1
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 627ecb980b..929d2b5694 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -228,7 +228,7 @@ def fly_ArduPlane(viewerip=None, map=False):
     if viewerip:
         options += " --out=%s:14550" % viewerip
     if map:
-        options += ' --map --console'
+        options += ' --map'
 
     sil = util.start_SIL('ArduPlane', wipe=True)
     mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)