diff --git a/Tools/autotest/ArduCopter.parm b/Tools/autotest/ArduCopter.parm
index 3465fc56d2..5e9a2a45be 100644
--- a/Tools/autotest/ArduCopter.parm
+++ b/Tools/autotest/ArduCopter.parm
@@ -29,12 +29,3 @@ FLTMODE3	2
 FLTMODE4	6
 FLTMODE5	5
 FLTMODE6	0
-NAV_LAT_I 0
-NAV_LON_I 0
-NAV_LAT_P 1
-NAV_LON_P 1
-STB_PIT_P 2
-STB_RLL_P 2
-XTRACK_P 1
-RATE_PIT_P 0.1
-RATE_RLL_P 0.1
diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index a98c8bf337..593ad682fe 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -229,7 +229,7 @@ def land(mavproxy, mav, timeout=60):
         return False
 
 
-def fly_mission(mavproxy, mav, filename, timeout=120):
+def fly_mission(mavproxy, mav, filename):
     '''fly a mission from a file'''
     startloc = current_location(mav)
     mavproxy.send('wp load %s\n' % filename)
@@ -239,7 +239,7 @@ def fly_mission(mavproxy, mav, filename, timeout=120):
     mavproxy.send('switch 1\n') # auto mode
     mavproxy.expect('AUTO>')
     wait_distance(mav, 30, timeout=120)
-    wait_location(mav, startloc, timeout=300)
+    wait_location(mav, startloc, timeout=600)
 
 
 def setup_rc(mavproxy):
@@ -306,6 +306,7 @@ def fly_ArduCopter():
         loiter(mavproxy, mav)
         land(mavproxy, mav)
         fly_mission(mavproxy, mav, os.path.join(testdir, "mission1.txt"))
+        land(mavproxy, mav)
         disarm_motors(mavproxy)
     except pexpect.TIMEOUT, e:
         failed = True