diff --git a/Tools/autotest/apmrover2.py b/Tools/autotest/apmrover2.py
index a223316645..6e20ff323f 100644
--- a/Tools/autotest/apmrover2.py
+++ b/Tools/autotest/apmrover2.py
@@ -450,7 +450,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
                 raise NotAchievedException("Did not get home")
             self.progress("Distance home: %f (mode=%s)" %
                           (self.distance_to_home(), self.mav.flightmode))
-            if self.mode_is('HOLD') or self.mode_is('LOITER'): # loiter for balancebot
+            if self.mode_is('HOLD') or self.mode_is('ACRO'): # acro for balancebot
                 break
 
         # the EKF doesn't pull us down to 0 speed:
diff --git a/Tools/autotest/balancebot.py b/Tools/autotest/balancebot.py
index 599e2ca4c6..c5c978c977 100644
--- a/Tools/autotest/balancebot.py
+++ b/Tools/autotest/balancebot.py
@@ -43,8 +43,8 @@ class AutoTestBalanceBot(AutoTestRover):
 
     def drive_rtl_mission(self):
         # if we Hold then the balancebot continues to wander
-        # indefinitely at ~1m/s
-        self.set_parameter("MIS_DONE_BEHAVE", 1)
+        # indefinitely at ~1m/s, hence we set to Acro
+        self.set_parameter("MIS_DONE_BEHAVE", 2)
         super(AutoTestBalanceBot, self).drive_rtl_mission()
 
     def tests(self):