diff --git a/Tools/autotest/ArduPlane.parm b/Tools/autotest/ArduPlane.parm
index 66bde1a534..093a306bea 100644
--- a/Tools/autotest/ArduPlane.parm
+++ b/Tools/autotest/ArduPlane.parm
@@ -7,7 +7,7 @@ ARSPD_ENABLE    1
 ARSP2PTCH_I     0.1
 ARSPD_FBW_MAX   30
 ARSPD_FBW_MIN   10
-KFF_RDDRMIX     0
+KFF_RDDRMIX     0.5
 KFF_PTCHCOMP    0.3
 THR_MAX		100
 HDNG2RLL_D      0.5
@@ -48,9 +48,10 @@ FLTMODE5        2
 FLTMODE6        0
 FLTMODE_CH      8
 PTCH2SRV_P      1.5
-RLL2SRV_I       0.05
+RLL2SRV_I       0.01
+RLL2SRV_IMAX    100
 RLL2SRV_P       0.8
 XTRK_ANGLE_CD   500
 XTRK_GAIN_SC    25
 WP_LOITER_RAD   90
-
+YW2SRV_P        0.5