diff --git a/ArduCopter/control_autotune.cpp b/ArduCopter/control_autotune.cpp
index 1898a80dcf..0eeba6acb8 100644
--- a/ArduCopter/control_autotune.cpp
+++ b/ArduCopter/control_autotune.cpp
@@ -46,7 +46,7 @@
 #define AUTOTUNE_AXIS_BITMASK_YAW             4
 
 #define AUTOTUNE_PILOT_OVERRIDE_TIMEOUT_MS  500     // restart tuning if pilot has left sticks in middle for 2 seconds
-#define AUTOTUNE_TESTING_STEP_TIMEOUT_MS    500     // timeout for tuning mode's testing step
+#define AUTOTUNE_TESTING_STEP_TIMEOUT_MS    750     // timeout for tuning mode's testing step
 #define AUTOTUNE_LEVEL_ANGLE_CD             300     // angle which qualifies as level
 #define AUTOTUNE_LEVEL_RATE_RP_CD          1000     // rate which qualifies as level for roll and pitch
 #define AUTOTUNE_LEVEL_RATE_Y_CD            750     // rate which qualifies as level for yaw
@@ -60,33 +60,33 @@
 #define AUTOTUNE_RD_MIN                  0.004f     // minimum Rate D value
 #define AUTOTUNE_RD_MAX                  0.050f     // maximum Rate D value
 #define AUTOTUNE_RLPF_MIN                  1.0f     // minimum Rate Yaw filter value
-#define AUTOTUNE_RLPF_MAX                 10.0f     // maximum Rate Yaw filter value
+#define AUTOTUNE_RLPF_MAX                  5.0f     // maximum Rate Yaw filter value
 #define AUTOTUNE_RP_MIN                   0.01f     // minimum Rate P value
 #define AUTOTUNE_RP_MAX                    2.0f     // maximum Rate P value
 #define AUTOTUNE_SP_MAX                   20.0f     // maximum Stab P value
 #define AUTOTUNE_SP_MIN                    0.5f     // maximum Stab P value
 #define AUTOTUNE_RP_ACCEL_MIN          36000.0f     // Minimum acceleration for Roll and Pitch
 #define AUTOTUNE_Y_ACCEL_MIN            9000.0f     // Minimum acceleration for Yaw
-#define AUTOTUNE_Y_FILT_FREQ              10.0f     // Minimum acceleration for Roll and Pitch
-#define AUTOTUNE_SUCCESS_COUNT                4     // how many successful iterations we need to freeze at current gains
+#define AUTOTUNE_Y_FILT_FREQ              10.0f     // Autotune filter frequency when testing Yaw
+#define AUTOTUNE_SUCCESS_COUNT                4     // The number of successful iterations we need to freeze at current gains
 #define AUTOTUNE_D_UP_DOWN_MARGIN          0.2f     // The margin below the target that we tune D in
 #define AUTOTUNE_RD_BACKOFF                1.0f     // Rate D gains are reduced to 50% of their maximum value discovered during tuning
 #define AUTOTUNE_RP_BACKOFF                1.0f     // Rate P gains are reduced to 97.5% of their maximum value discovered during tuning
 #define AUTOTUNE_SP_BACKOFF                0.9f     // Stab P gains are reduced to 90% of their maximum value discovered during tuning
 #define AUTOTUNE_ACCEL_RP_BACKOFF          1.0f     // back off from maximum acceleration
-#define AUTOTUNE_ACCEL_Y_BACKOFF          0.75f     // back off from maximum acceleration
+#define AUTOTUNE_ACCEL_Y_BACKOFF           1.0f     // back off from maximum acceleration
 
 // roll and pitch axes
 #define AUTOTUNE_TARGET_ANGLE_RLLPIT_CD     2000    // target angle during TESTING_RATE step that will cause us to move to next step
 #define AUTOTUNE_TARGET_RATE_RLLPIT_CDS     9000    // target roll/pitch rate during AUTOTUNE_STEP_TWITCHING step
-#define AUTOTUNE_TARGET_MIN_ANGLE_RLLPIT_CD 1000    // target angle during TESTING_RATE step that will cause us to move to next step
+#define AUTOTUNE_TARGET_MIN_ANGLE_RLLPIT_CD 1000    // minimum target angle during TESTING_RATE step that will cause us to move to next step
 #define AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS 4500    // target roll/pitch rate during AUTOTUNE_STEP_TWITCHING step
 
 // yaw axis
-#define AUTOTUNE_TARGET_ANGLE_YAW_CD        1000    // target angle during TESTING_RATE step that will cause us to move to next step
-#define AUTOTUNE_TARGET_RATE_YAW_CDS        3000    // target yaw rate during AUTOTUNE_STEP_TWITCHING step
-#define AUTOTUNE_TARGET_MIN_ANGLE_YAW_CD     500    // target angle during TESTING_RATE step that will cause us to move to next step
-#define AUTOTUNE_TARGET_MIN_RATE_YAW_CDS    1500    // target yaw rate during AUTOTUNE_STEP_TWITCHING step
+#define AUTOTUNE_TARGET_ANGLE_YAW_CD        3000    // target angle during TESTING_RATE step that will cause us to move to next step
+#define AUTOTUNE_TARGET_RATE_YAW_CDS        9000    // target yaw rate during AUTOTUNE_STEP_TWITCHING step
+#define AUTOTUNE_TARGET_MIN_ANGLE_YAW_CD     500    // minimum target angle during TESTING_RATE step that will cause us to move to next step
+#define AUTOTUNE_TARGET_MIN_RATE_YAW_CDS    1500    // minimum target yaw rate during AUTOTUNE_STEP_TWITCHING step
 
 // Auto Tune message ids for ground station
 #define AUTOTUNE_MESSAGE_STARTED 0