diff --git a/ArduCopter/tuning.cpp b/ArduCopter/tuning.cpp
index 974fd3420d..fb763d0560 100644
--- a/ArduCopter/tuning.cpp
+++ b/ArduCopter/tuning.cpp
@@ -215,11 +215,11 @@ void Copter::tuning() {
 
      case TUNING_WINCH: {
          float desired_rate = 0.0f;
-         if (v > 0.8f) {
-             desired_rate = g2.winch.get_rate_max();
+         if (v > 0.6f) {
+             desired_rate = g2.winch.get_rate_max() * (v - 0.6f) / 0.4f;
          }
-         if (v < 0.2f) {
-             desired_rate = -g2.winch.get_rate_max();
+         if (v < 0.4f) {
+             desired_rate = g2.winch.get_rate_max() * (v - 0.4) / 0.4f;
          }
          g2.winch.set_desired_rate(desired_rate);
          break;