diff --git a/Tools/autotest/balancebot.py b/Tools/autotest/balancebot.py
index 39044df780..efeb487510 100644
--- a/Tools/autotest/balancebot.py
+++ b/Tools/autotest/balancebot.py
@@ -60,7 +60,6 @@ class AutoTestBalanceBot(AutoTestRover):
         '''make sure wheel encoders are generally working'''
         ex = None
         try:
-            self.set_parameter("ATC_BAL_SPD_FF", 0)
             self.set_parameter("WENC_TYPE", 10)
             self.set_parameter("AHRS_EKF_TYPE", 10)
             self.reboot_sitl()
diff --git a/Tools/autotest/default_params/balancebot.parm b/Tools/autotest/default_params/balancebot.parm
index c097bed73a..f5b00eeda1 100644
--- a/Tools/autotest/default_params/balancebot.parm
+++ b/Tools/autotest/default_params/balancebot.parm
@@ -1,7 +1,6 @@
-ATC_BAL_P 18.0
-ATC_BAL_I 80.0
-ATC_BAL_D 0.005
-ATC_BAL_SPD_FF 0.000000
+ATC_BAL_P 3.5
+ATC_BAL_I 5.0
+ATC_BAL_D 0.06
 ATC_SPEED_P 0.9
 ATC_SPEED_I 0.5
 AHRS_EKF_TYPE 10