diff --git a/Tools/autotest/ArduPlane.parm b/Tools/autotest/ArduPlane.parm
index d064f31cb2..886a163618 100644
--- a/Tools/autotest/ArduPlane.parm
+++ b/Tools/autotest/ArduPlane.parm
@@ -3,10 +3,10 @@ SWITCH_ENABLE   0
 MAG_ENABLE	1
 TRIM_ARSPD_CM   2200
 TRIM_PITCH_CD   0
-TRIM_THROTTLE   70
-LIM_PITCH_MIN   -3000
-LIM_PITCH_MAX   3500
-LIM_ROLL_CD     7000
+TRIM_THROTTLE   50
+LIM_PITCH_MIN   -2000
+LIM_PITCH_MAX   2500
+LIM_ROLL_CD     6500
 LAND_PITCH_CD   300
 WHEELSTEER_D      0.1
 WHEELSTEER_I      0.5
@@ -20,10 +20,13 @@ ARSPD_FBW_MIN   10
 KFF_RDDRMIX     0.5
 KFF_PTCHCOMP    0.3
 THR_MAX		100
-HDNG2RLL_D      0.4
+HDNG2RLL_D      0.6
 HDNG2RLL_I      0.01
 HDNG2RLL_IMAX   100.0
 HDNG2RLL_P      0.8
+ENRGY2THR_P     0.25
+ENRGY2THR_D     0.2
+ENRGY2THR_I     0.1
 RC2_REV		-1
 RC4_REV		-1
 RC1_MAX         2000
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 2b4f33e0c7..b91dec6de5 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -75,7 +75,7 @@ def fly_RTL(mavproxy, mav):
     print("Flying home in RTL")
     mavproxy.send('switch 2\n')
     wait_mode(mav, 'RTL')
-    if not wait_location(mav, homeloc, accuracy=90,
+    if not wait_location(mav, homeloc, accuracy=120,
                          target_altitude=homeloc.alt+100, height_accuracy=20,
                          timeout=90):
         return False