diff --git a/libraries/AC_AutoTune/AC_AutoTune.cpp b/libraries/AC_AutoTune/AC_AutoTune.cpp
index 093bf16d8a..1d7bd5503a 100644
--- a/libraries/AC_AutoTune/AC_AutoTune.cpp
+++ b/libraries/AC_AutoTune/AC_AutoTune.cpp
@@ -68,18 +68,18 @@
 #define AUTOTUNE_TARGET_MIN_RATE_YAW_CDS    1500    // minimum target yaw rate during AUTOTUNE_STEP_TWITCHING step
 
 // ifdef is not working.  Modified multi values to reflect heli requirements
-#ifdef HELI_BUILD
-// heli defines
-#define AUTOTUNE_TESTING_STEP_TIMEOUT_MS   5000U    // timeout for tuning mode's testing step
-#define AUTOTUNE_RP_ACCEL_MIN           20000.0f     // Minimum acceleration for Roll and Pitch
-#define AUTOTUNE_Y_ACCEL_MIN            10000.0f     // Minimum acceleration for Yaw
-#define AUTOTUNE_SP_BACKOFF                1.0f     // Stab P gains are reduced to 90% of their maximum value discovered during tuning
+#if APM_BUILD_TYPE(APM_BUILD_Heli)
+ // heli defines
+ #define AUTOTUNE_TESTING_STEP_TIMEOUT_MS   5000U     // timeout for tuning mode's testing step
+ #define AUTOTUNE_RP_ACCEL_MIN           20000.0f     // Minimum acceleration for Roll and Pitch
+ #define AUTOTUNE_Y_ACCEL_MIN            10000.0f     // Minimum acceleration for Yaw
+ #define AUTOTUNE_SP_BACKOFF                 1.0f     // Stab P gains are reduced to 90% of their maximum value discovered during tuning
 #else
-// Frame specific defaults
-#define AUTOTUNE_TESTING_STEP_TIMEOUT_MS   5000U    // timeout for tuning mode's testing step
-#define AUTOTUNE_RP_ACCEL_MIN           20000.0f     // Minimum acceleration for Roll and Pitch
-#define AUTOTUNE_Y_ACCEL_MIN            10000.0f     // Minimum acceleration for Yaw
-#define AUTOTUNE_SP_BACKOFF                1.0f     // Stab P gains are reduced to 90% of their maximum value discovered during tuning
+ // Frame specific defaults
+ #define AUTOTUNE_TESTING_STEP_TIMEOUT_MS   1000U     // timeout for tuning mode's testing step
+ #define AUTOTUNE_RP_ACCEL_MIN            4000.0f     // Minimum acceleration for Roll and Pitch
+ #define AUTOTUNE_Y_ACCEL_MIN             1000.0f     // Minimum acceleration for Yaw
+ #define AUTOTUNE_SP_BACKOFF                 0.9f     // Stab P gains are reduced to 90% of their maximum value discovered during tuning
 #endif // HELI_BUILD
 
 // second table of user settable parameters for quadplanes, this