diff --git a/Tools/autotest/ArduPlane_Tests/FlyEachFrame/basic-quadplane.txt b/Tools/autotest/ArduPlane_Tests/FlyEachFrame/basic-quadplane.txt
index d4ec44c2e0..af7a9afbf3 100644
--- a/Tools/autotest/ArduPlane_Tests/FlyEachFrame/basic-quadplane.txt
+++ b/Tools/autotest/ArduPlane_Tests/FlyEachFrame/basic-quadplane.txt
@@ -1,13 +1,14 @@
 QGC WPL 110
 0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.363262	149.165237	584.390015	1
-1	0	3	84	0.000000	0.000000	0.000000	0.000000	-35.361279	149.164230	30.000000	1
-2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361229	149.163025	80.000000	1
-3	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364563	149.163773	80.000000	1
-4	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364384	149.164795	80.000000	1
-5	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361027	149.164093	80.000000	1
-6	0	0	177	2.000000	1.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
-7	0	3	189	0.000000	0.000000	0.000000	0.000000	-35.362915	149.162613	60.000000	1
-8	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.363136	149.162750	60.000000	1
-9	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365467	149.164215	55.000000	1
-10	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365009	149.165482	39.889999	1
-11	0	3	85	0.000000	0.000000	0.000000	1.000000	-35.363041	149.165222	0.000000	1
+1	0	0	223	1.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+2	0	3	84	0.000000	0.000000	0.000000	0.000000	-35.361279	149.164230	30.000000	1
+3	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361229	149.163025	80.000000	1
+4	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364563	149.163773	80.000000	1
+5	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364384	149.164795	80.000000	1
+6	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361027	149.164093	80.000000	1
+7	0	0	177	2.000000	1.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+8	0	3	189	0.000000	0.000000	0.000000	0.000000	-35.362915	149.162613	60.000000	1
+9	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.363136	149.162750	60.000000	1
+10	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365467	149.164215	55.000000	1
+11	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365009	149.165482	39.889999	1
+12	0	3	85	0.000000	0.000000	0.000000	1.000000	-35.363041	149.165222	0.000000	1
diff --git a/Tools/autotest/ArduPlane_Tests/FlyEachFrame/basic.txt b/Tools/autotest/ArduPlane_Tests/FlyEachFrame/basic.txt
index b6a88b10c2..51f0935066 100644
--- a/Tools/autotest/ArduPlane_Tests/FlyEachFrame/basic.txt
+++ b/Tools/autotest/ArduPlane_Tests/FlyEachFrame/basic.txt
@@ -1,13 +1,14 @@
 QGC WPL 110
 0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.363262	149.165237	584.390015	1
-1	0	3	22	15.000000	0.000000	0.000000	0.000000	-35.361279	149.164230	30.000000	1
-2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361229	149.163025	80.000000	1
-3	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364563	149.163773	80.000000	1
-4	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364384	149.164795	80.000000	1
-5	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361027	149.164093	80.000000	1
-6	0	0	177	2.000000	1.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
-7	0	3	189	0.000000	0.000000	0.000000	0.000000	-35.362915	149.162613	60.000000	1
-8	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.363136	149.162750	60.000000	1
-9	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365467	149.164215	55.000000	1
-10	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365009	149.165482	39.889999	1
-11	0	3	21	0.000000	0.000000	0.000000	1.000000	-35.363041	149.165222	0.000000	1
+1	0	0	223	1.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+2	0	3	22	15.000000	0.000000	0.000000	0.000000	-35.361279	149.164230	30.000000	1
+3	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361229	149.163025	80.000000	1
+4	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364563	149.163773	80.000000	1
+5	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364384	149.164795	80.000000	1
+6	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361027	149.164093	80.000000	1
+7	0	0	177	2.000000	1.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+8	0	3	189	0.000000	0.000000	0.000000	0.000000	-35.362915	149.162613	60.000000	1
+9	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.363136	149.162750	60.000000	1
+10	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365467	149.164215	55.000000	1
+11	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365009	149.165482	39.889999	1
+12	0	3	21	0.000000	0.000000	0.000000	1.000000	-35.363041	149.165222	0.000000	1
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 004f16737f..2aa1390402 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -4201,8 +4201,6 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
         vinfo_options = vinfo.options[self.vehicleinfo_key()]
         known_broken_frames = {
             "plane-tailsitter": "unstable in hover; unflyable in cruise",
-            "plane-ice" : "needs ICE control channel for ignition",
-            "quadplane-ice" : "needs ICE control channel for ignition",
             "quadplane-can" : "needs CAN periph",
             "stratoblimp" : "not expected to fly normally",
             "glider" : "needs balloon lift",
diff --git a/Tools/autotest/default_params/plane-ice.parm b/Tools/autotest/default_params/plane-ice.parm
index e6cb59cad0..48c2fb0b96 100644
--- a/Tools/autotest/default_params/plane-ice.parm
+++ b/Tools/autotest/default_params/plane-ice.parm
@@ -1,5 +1,6 @@
 ICE_ENABLE 1
 ICE_RPM_CHAN 1
+ICE_RPM_THRESH 50
 SERVO13_FUNCTION 67
 SERVO14_FUNCTION 69
 RC11_OPTION 179