diff --git a/Tools/autotest/default_params/balancebot.parm b/Tools/autotest/default_params/balancebot.parm
index a75ec578c2..61e6a65e70 100644
--- a/Tools/autotest/default_params/balancebot.parm
+++ b/Tools/autotest/default_params/balancebot.parm
@@ -1,7 +1,14 @@
 FRAME_CLASS 3
-SCHED_LOOP_RATE 200
+AHRS_EKF_TYPE 10
+SCHED_LOOP_RATE 50
 MOT_SLEWRATE 0
 FS_CRASH_CHECK 1
+ATC_SPEED_P 0.1
+ATC_SPEED_I 0.05
+ATC_SPEED_FILT 0
+CRUISE_SPEED 1.0
+CRUISE_THROTTLE 30.0
 ATC_BAL_P 35
-ATC_BAL_I 30
-ATC_BAL_D 1.5
+ATC_BAL_I 35
+ATC_BAL_D 1.2
+ATC_BAL_FILT 50