diff --git a/Tools/autotest/ArduPlane-Missions/Dalby-OBC2016.txt b/Tools/autotest/ArduPlane-Missions/Dalby-OBC2016.txt
index d7cb390ffe..0183698d2e 100644
--- a/Tools/autotest/ArduPlane-Missions/Dalby-OBC2016.txt
+++ b/Tools/autotest/ArduPlane-Missions/Dalby-OBC2016.txt
@@ -1,20 +1,36 @@
 QGC WPL 110
-0	0	0	16	0.000000	0.000000	0.000000	0.000000	-27.274094	151.290100	343.100006	1
-1	0	3	84	0.000000	0.000000	0.000000	0.000000	-27.272867	151.290298	10.000000	1
-2	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.272703	151.298172	100.000000	1
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	-27.274439	151.290070	343.089996	1
+1	0	10	84	0.000000	0.000000	0.000000	0.000000	-27.272924	151.290848	10.000000	1
+2	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.272705	151.298172	100.000000	1
 3	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.277561	151.337250	100.000000	1
 4	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.281748	151.335953	100.000000	1
 5	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.275724	151.289932	100.000000	1
 6	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.297457	151.285629	100.000000	1
 7	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.308109	151.354279	100.000000	1
-8	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.331802	151.375610	40.529999	1
-9	0	10	85	0.000000	0.000000	0.000000	0.000000	-27.332270	151.375854	0.000000	1
-10	0	10	84	0.000000	0.000000	0.000000	0.000000	-27.332270	151.375854	40.000000	1
-11	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.308224	151.354538	100.000000	1
-12	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.297340	151.285370	100.000000	1
-13	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.275724	151.289932	100.000000	1
-14	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.281631	151.335953	100.000000	1
-15	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.277679	151.337128	100.000000	1
-16	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.272585	151.298294	100.000000	1
-17	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.271421	151.290482	30.000000	1
-18	0	10	85	0.000000	0.000000	0.000000	0.000000	-27.274094	151.290100	0.000000	1
+8	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.330292	151.374268	90.000000	1
+9	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.330435	151.375977	70.000000	1
+10	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.332638	151.376099	70.000000	1
+11	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.334694	151.376144	70.000000	1
+12	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.333776	151.374146	70.000000	1
+13	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.331438	151.378159	70.000000	1
+14	0	0	177	9.000000	4.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+15	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.334566	151.375366	40.000000	1
+16	0	0	178	0.000000	20.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+17	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.333712	151.376495	40.000000	1
+18	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.333172	151.376511	35.000000	1
+19	0	10	85	0.000000	0.000000	0.000000	0.000000	-27.332676	151.376511	0.000000	1
+20	0	10	84	0.000000	0.000000	0.000000	0.000000	-27.332659	151.376511	35.000000	1
+21	0	0	178	0.000000	24.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+22	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.332201	151.376511	100.000000	1
+23	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.330381	151.374191	100.000000	1
+24	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.308224	151.354538	100.000000	1
+25	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.297340	151.285385	100.000000	1
+26	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.275724	151.289932	100.000000	1
+27	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.281631	151.335953	100.000000	1
+28	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.277679	151.337128	100.000000	1
+29	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.272587	151.298294	100.000000	1
+30	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.271564	151.291473	30.000000	1
+31	0	0	178	0.000000	20.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+32	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.272278	151.290359	25.000000	1
+33	0	10	16	0.000000	0.000000	0.000000	0.000000	-27.273310	151.290222	15.000000	1
+34	0	10	85	0.000000	0.000000	0.000000	0.000000	-27.274094	151.290100	0.000000	1
diff --git a/Tools/autotest/quadplane.py b/Tools/autotest/quadplane.py
index ed86347d75..f83a37a21e 100644
--- a/Tools/autotest/quadplane.py
+++ b/Tools/autotest/quadplane.py
@@ -26,14 +26,14 @@ def fly_mission(mavproxy, mav, filename, fence, height_accuracy=-1):
     mavproxy.expect('Requesting [0-9]+ waypoints')
     mavproxy.send('mode AUTO\n')
     wait_mode(mav, 'AUTO')
-    if not wait_waypoint(mav, 1, 9, max_dist=60, timeout=1200):
+    if not wait_waypoint(mav, 1, 19, max_dist=60, timeout=1200):
         return False
     mavproxy.expect('DISARMED')
     # wait for blood sample here
-    mavproxy.send('wp set 10\n')
+    mavproxy.send('wp set 20\n')
     mavproxy.send('arm throttle\n')
     mavproxy.expect('ARMED')
-    if not wait_waypoint(mav, 10, 18, max_dist=60, timeout=1200):
+    if not wait_waypoint(mav, 20, 34, max_dist=60, timeout=1200):
         return False
     mavproxy.expect('DISARMED')
     print("Mission OK")