diff --git a/Tools/autotest/default_params/copter-AVC2013.parm b/Tools/autotest/default_params/copter-AVC2013.parm
index 440fccfa5d..f2e12d0785 100644
--- a/Tools/autotest/default_params/copter-AVC2013.parm
+++ b/Tools/autotest/default_params/copter-AVC2013.parm
@@ -13,6 +13,9 @@ COMPASS_OFS_Z   -18
 COMPASS_OFS2_X   5
 COMPASS_OFS2_Y   13
 COMPASS_OFS2_Z   -18
+COMPASS_OFS3_X   5
+COMPASS_OFS3_Y   13
+COMPASS_OFS3_Z   -18
 RC1_MAX         2000.000000
 RC1_MIN         1000.000000
 RC1_TRIM        1500.000000
diff --git a/Tools/autotest/default_params/copter.parm b/Tools/autotest/default_params/copter.parm
index 6c0cd46842..0d78343cb6 100644
--- a/Tools/autotest/default_params/copter.parm
+++ b/Tools/autotest/default_params/copter.parm
@@ -10,6 +10,9 @@ COMPASS_OFS_Z   -18
 COMPASS_OFS2_X   5
 COMPASS_OFS2_Y   13
 COMPASS_OFS2_Z   -18
+COMPASS_OFS3_X   5
+COMPASS_OFS3_Y   13
+COMPASS_OFS3_Z   -18
 FENCE_RADIUS    150
 FRAME_CLASS     1
 RC1_MAX         2000.000000
diff --git a/Tools/autotest/default_params/firefly.parm b/Tools/autotest/default_params/firefly.parm
index 1c59f7a964..27fe1485e1 100644
--- a/Tools/autotest/default_params/firefly.parm
+++ b/Tools/autotest/default_params/firefly.parm
@@ -15,9 +15,9 @@ AUTOTUNE_LEVEL   8
 COMPASS_OFS2_X   -0.420265
 COMPASS_OFS2_Y   -0.726942
 COMPASS_OFS2_Z   6.665476
-COMPASS_OFS3_X   0
-COMPASS_OFS3_Y   0
-COMPASS_OFS3_Z   0
+COMPASS_OFS3_X   -0.420265
+COMPASS_OFS3_Y   -0.726942
+COMPASS_OFS3_Z   6.665476
 COMPASS_OFS_X    -0.453570
 COMPASS_OFS_Y    -0.585846
 COMPASS_OFS_Z    6.815743
diff --git a/Tools/autotest/default_params/quadplane-cl84.parm b/Tools/autotest/default_params/quadplane-cl84.parm
index 3cbce18ce7..c7ce7d8399 100644
--- a/Tools/autotest/default_params/quadplane-cl84.parm
+++ b/Tools/autotest/default_params/quadplane-cl84.parm
@@ -6,9 +6,9 @@ AUTOTUNE_LEVEL   8
 COMPASS_OFS2_X   -0.420265
 COMPASS_OFS2_Y   -0.726942
 COMPASS_OFS2_Z   6.665476
-COMPASS_OFS3_X   0
-COMPASS_OFS3_Y   0
-COMPASS_OFS3_Z   0
+COMPASS_OFS3_X   -0.420265
+COMPASS_OFS3_Y   -0.726942
+COMPASS_OFS3_Z   6.665476
 COMPASS_OFS_X    -0.453570
 COMPASS_OFS_Y    -0.585846
 COMPASS_OFS_Z    6.815743
diff --git a/Tools/autotest/default_params/quadplane-tilttri.parm b/Tools/autotest/default_params/quadplane-tilttri.parm
index 8cde89726f..517db738f5 100644
--- a/Tools/autotest/default_params/quadplane-tilttri.parm
+++ b/Tools/autotest/default_params/quadplane-tilttri.parm
@@ -7,9 +7,9 @@ AUTOTUNE_LEVEL   8
 COMPASS_OFS2_X   -0.420265
 COMPASS_OFS2_Y   -0.726942
 COMPASS_OFS2_Z   6.665476
-COMPASS_OFS3_X   0
-COMPASS_OFS3_Y   0
-COMPASS_OFS3_Z   0
+COMPASS_OFS3_X   -0.420265
+COMPASS_OFS3_Y   -0.726942
+COMPASS_OFS3_Z   6.665476
 COMPASS_OFS_X    -0.453570
 COMPASS_OFS_Y    -0.585846
 COMPASS_OFS_Z    6.815743
diff --git a/Tools/autotest/default_params/quadplane-tilttrivec.parm b/Tools/autotest/default_params/quadplane-tilttrivec.parm
index 33fe48c3cd..949eb5bc61 100644
--- a/Tools/autotest/default_params/quadplane-tilttrivec.parm
+++ b/Tools/autotest/default_params/quadplane-tilttrivec.parm
@@ -7,9 +7,9 @@ AUTOTUNE_LEVEL   8
 COMPASS_OFS2_X   -0.420265
 COMPASS_OFS2_Y   -0.726942
 COMPASS_OFS2_Z   6.665476
-COMPASS_OFS3_X   0
-COMPASS_OFS3_Y   0
-COMPASS_OFS3_Z   0
+COMPASS_OFS3_X   -0.420265
+COMPASS_OFS3_Y   -0.726942
+COMPASS_OFS3_Z   6.665476
 COMPASS_OFS_X    -0.453570
 COMPASS_OFS_Y    -0.585846
 COMPASS_OFS_Z    6.815743
diff --git a/Tools/autotest/default_params/quadplane-tri.parm b/Tools/autotest/default_params/quadplane-tri.parm
index b4a87a91c4..555383113f 100644
--- a/Tools/autotest/default_params/quadplane-tri.parm
+++ b/Tools/autotest/default_params/quadplane-tri.parm
@@ -7,9 +7,9 @@ AUTOTUNE_LEVEL   8
 COMPASS_OFS2_X   -0.420265
 COMPASS_OFS2_Y   -0.726942
 COMPASS_OFS2_Z   6.665476
-COMPASS_OFS3_X   0
-COMPASS_OFS3_Y   0
-COMPASS_OFS3_Z   0
+COMPASS_OFS3_X   -0.420265
+COMPASS_OFS3_Y   -0.726942
+COMPASS_OFS3_Z   6.665476
 COMPASS_OFS_X    -0.453570
 COMPASS_OFS_Y    -0.585846
 COMPASS_OFS_Z    6.815743
diff --git a/Tools/autotest/default_params/quadplane.parm b/Tools/autotest/default_params/quadplane.parm
index 1b683defef..ade7761534 100644
--- a/Tools/autotest/default_params/quadplane.parm
+++ b/Tools/autotest/default_params/quadplane.parm
@@ -7,9 +7,9 @@ AUTOTUNE_LEVEL   8
 COMPASS_OFS2_X   -0.420265
 COMPASS_OFS2_Y   -0.726942
 COMPASS_OFS2_Z   6.665476
-COMPASS_OFS3_X   0
-COMPASS_OFS3_Y   0
-COMPASS_OFS3_Z   0
+COMPASS_OFS3_X   -0.420265
+COMPASS_OFS3_Y   -0.726942
+COMPASS_OFS3_Z   6.665476
 COMPASS_OFS_X    -0.453570
 COMPASS_OFS_Y    -0.585846
 COMPASS_OFS_Z    6.815743
diff --git a/Tools/autotest/default_params/sub.parm b/Tools/autotest/default_params/sub.parm
index c2c5c1aebd..83d24e17f8 100644
--- a/Tools/autotest/default_params/sub.parm
+++ b/Tools/autotest/default_params/sub.parm
@@ -38,6 +38,9 @@ COMPASS_OFS_Z   -18
 COMPASS_OFS2_X   5
 COMPASS_OFS2_Y   13
 COMPASS_OFS2_Z   -18
+COMPASS_OFS3_X   5
+COMPASS_OFS3_Y   13
+COMPASS_OFS3_Z   -18
 INS_ACCOFFS_X   0.001
 INS_ACCOFFS_Y   0.001
 INS_ACCOFFS_Z   0.001