diff --git a/libraries/APM_Control/AP_AutoTune.cpp b/libraries/APM_Control/AP_AutoTune.cpp
index 5147f03ee5..3e51c85770 100644
--- a/libraries/APM_Control/AP_AutoTune.cpp
+++ b/libraries/APM_Control/AP_AutoTune.cpp
@@ -106,6 +106,7 @@ void AP_AutoTune::start(void)
     state_enter_ms = now;
     last_save_ms = now;
     
+    last_save = current;
     restore = current;
 
     /*
@@ -246,12 +247,14 @@ void AP_AutoTune::check_save(void)
  */
 void AP_AutoTune::save_gains(const ATGains &v)
 {
+    current = last_save;
     current.tau.set_and_save_ifchanged(v.tau);
     current.P.set_and_save_ifchanged(v.P);
     current.I.set_and_save_ifchanged(v.I);
     current.D.set_and_save_ifchanged(v.D);
     current.rmax.set_and_save_ifchanged(v.rmax);
     current.imax.set_and_save_ifchanged(v.imax);
+    last_save = current;
 }
 
 #define LOG_MSG_ATRP 211
diff --git a/libraries/APM_Control/AP_AutoTune.h b/libraries/APM_Control/AP_AutoTune.h
index 4fbd0223ae..510a03601d 100644
--- a/libraries/APM_Control/AP_AutoTune.h
+++ b/libraries/APM_Control/AP_AutoTune.h
@@ -58,6 +58,9 @@ private:
     // values to restore if we leave autotune mode
     ATGains restore; 
 
+    // values we last saved
+    ATGains last_save; 
+
     // values to save on the next save event
     ATGains next_save;