diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index a10092f5e1..75ea86f78b 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -129,7 +129,7 @@ class AutoTestCopter(AutoTest):
             mavutil.mavlink.MAV_CMD_NAV_TAKEOFF,
             p7=alt_min,
         )
-        self.wait_for_alt(alt_min, timeout=timeout, max_err=max_err)
+        self.wait_altitude(alt_min-1, alt_min+max_err, relative=True, timeout=timeout)
 
     def takeoff(self,
                 alt_min=30,
@@ -149,17 +149,10 @@ class AutoTestCopter(AutoTest):
             self.user_takeoff(alt_min=alt_min, timeout=timeout, max_err=max_err)
         else:
             self.set_rc(3, takeoff_throttle)
-        self.wait_for_alt(alt_min=alt_min, timeout=timeout, max_err=max_err)
+        self.wait_altitude(alt_min-1, alt_min+max_err, relative=True, timeout=timeout)
         self.hover()
         self.progress("TAKEOFF COMPLETE")
 
-    def wait_for_alt(self, alt_min=30, timeout=30, max_err=5):
-        """Wait for minimum altitude to be reached."""
-        self.wait_altitude(alt_min - 1,
-                           (alt_min + max_err),
-                           relative=True,
-                           timeout=timeout)
-
     def land_and_disarm(self, timeout=60):
         """Land the quad."""
         self.progress("STARTING LANDING")
@@ -171,7 +164,7 @@ class AutoTestCopter(AutoTest):
         m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
         alt = m.relative_alt / 1000.0 # mm -> m
         if alt > min_alt:
-            self.wait_for_alt(min_alt, timeout=timeout)
+            self.wait_altitude(min_alt-1, min_alt+5, relative=True, timeout=timeout)
 #        self.wait_statustext("SIM Hit ground", timeout=timeout)
         self.wait_disarmed()
 
@@ -2100,7 +2093,7 @@ class AutoTestCopter(AutoTest):
 
             self.progress("Regaining altitude")
             self.change_mode('ALT_HOLD')
-            self.wait_for_alt(20, max_err=40)
+            self.wait_altitude(19, 60, relative=True)
 
             self.progress("Flipping in pitch")
             self.set_rc(2, 1700)
@@ -2440,7 +2433,7 @@ class AutoTestCopter(AutoTest):
                     raise NotAchievedException("AUTOTUNE gains not present in pilot testing")
                 # land without changing mode
                 self.set_rc(3, 1000)
-                self.wait_for_alt(0)
+                self.wait_altitude(-1, 5, relative=True)
                 self.wait_disarmed()
                 # Check gains are still there after disarm
                 if (rlld == self.get_parameter("ATC_RAT_RLL_D") or
diff --git a/Tools/autotest/helicopter.py b/Tools/autotest/helicopter.py
index d193965fb6..096b320d17 100644
--- a/Tools/autotest/helicopter.py
+++ b/Tools/autotest/helicopter.py
@@ -167,7 +167,7 @@ class AutoTestHelicopter(AutoTestCopter):
             self.user_takeoff(alt_min=alt_min)
         else:
             self.set_rc(3, takeoff_throttle)
-        self.wait_for_alt(alt_min=alt_min, timeout=timeout)
+        self.wait_altitude(alt_min-1, alt_min+5, relative=True, timeout=timeout)
         self.hover()
         self.progress("TAKEOFF COMPLETE")