diff --git a/Tools/autotest/default_params/copter-heli.parm b/Tools/autotest/default_params/copter-heli.parm
index 55b8653e9d..fa4d757c1b 100644
--- a/Tools/autotest/default_params/copter-heli.parm
+++ b/Tools/autotest/default_params/copter-heli.parm
@@ -33,22 +33,34 @@ INS_ACC3OFFS_Z   0.000
 INS_ACC3SCAL_X   1.000
 INS_ACC3SCAL_Y   1.000
 INS_ACC3SCAL_Z   1.000
-ATC_RAT_PIT_P 0.900
-ATC_RAT_PIT_I 11.250
-ATC_RAT_PIT_D 0.045
-ATC_RAT_PIT_IMAX 1.000
-ATC_RAT_PIT_VFF 0.200
-ATC_RAT_RLL_P 0.9000
-ATC_RAT_RLL_I 11.250
-ATC_RAT_RLL_D 0.045
-ATC_RAT_RLL_IMAX 1.0000
-ATC_RAT_RLL_VFF 0.200
+ATC_INPUT_TC 0.20
+ATC_RAT_PIT_P 0.05
+ATC_RAT_PIT_I 0.15
+ATC_RAT_PIT_D 0.006
+ATC_RAT_PIT_IMAX 0.4
+ATC_RAT_PIT_ILMI 0.1
+ATC_RAT_PIT_VFF 0.25
+ATC_RAT_RLL_P 0.05
+ATC_RAT_RLL_I 0.15
+ATC_RAT_RLL_D 0.003
+ATC_RAT_RLL_IMAX 0.4
+ATC_RAT_RLL_ILMI 0.1
+ATC_RAT_RLL_VFF 0.3
+ATC_RAT_YAW_P 0.35
 ATC_RAT_YAW_I 0.088
-ATC_RAT_YAW_D 0.018
-ATC_RAT_YAW_VFF 0.200000
-ATC_ANG_PIT_P 12.5368
-ATC_ANG_RLL_P 15.2386
-ATC_ANG_YAW_P 7.6965
+ATC_RAT_YAW_D 0.02
+ATC_RAT_YAW_VFF 0.0
+ATC_ANG_PIT_P 6.0
+ATC_ANG_RLL_P 6.0
+ATC_ANG_YAW_P 4.5
+ATC_ACCEL_P_MAX 60000
+ATC_ACCEL_R_MAX 60000
+ATC_ACCEL_Y_MAX 27000
+ATC_HOVR_ROL_TRM 320
+H_COL_MAX 1740
+H_COL_MID 1500
+H_COL_MIN 1460
+H_RSC_MODE 2
 RC1_MAX         2000.000000
 RC1_MIN         1000.000000
 RC1_TRIM        1500.000000
@@ -73,10 +85,7 @@ RC7_TRIM        1500.000000
 RC8_MAX         2000.000000
 RC8_MIN         1000.000000
 RC8_TRIM        1500.000000
+RPM_TYPE 1
 WP_YAW_BEHAVIOR 2
 IM_ACRO_COL_EXP 0.2
-IM_STB_COL_1   40
-IM_STB_COL_2   60
-IM_STB_COL_3   70
-IM_STB_COL_4   90
-
+PSC_VELXY_D 0.5