diff --git a/Tools/autotest/default_params/quadplane.parm b/Tools/autotest/default_params/quadplane.parm
index 62c5225d05..1bd268b724 100644
--- a/Tools/autotest/default_params/quadplane.parm
+++ b/Tools/autotest/default_params/quadplane.parm
@@ -70,10 +70,16 @@ Q_M_PWM_MIN      1000
 Q_M_PWM_MAX      2000
 Q_M_BAT_VOLT_MAX 12.8
 Q_M_BAT_VOLT_MIN 9.6
-Q_A_RAT_RLL_P 0.15
-Q_A_RAT_PIT_P 0.15
-Q_A_RAT_RLL_D 0.002
-Q_A_RAT_PIT_D 0.002
+Q_A_RAT_RLL_P 0.108
+Q_A_RAT_RLL_I 0.108
+Q_A_RAT_RLL_D 0.001
+Q_A_RAT_PIT_P 0.103
+Q_A_RAT_PIT_I 0.103
+Q_A_RAT_PIT_D 0.001
+Q_A_RAT_YAW_P 0.4
+Q_A_RAT_YAW_P 0.04
+Q_A_ANG_RLL_P 6
+Q_A_ANG_PIT_P 6
 RTL_ALTITUDE 20.00
 PTCH_RATE_FF 1.407055
 RLL_RATE_FF 0.552741