autotest: adjusted APM parameters

enable compass and tweak tuning

Tools/autotest/ArduPlane.parm

@@ -1,6 +1,6 @@
 LOG_BITMASK	4095
 SWITCH_ENABLE   0
-MAG_ENABLE	0
+MAG_ENABLE	1
 TRIM_ARSPD_CM   2200
 TRIM_PITCH_CD   -1000
 ARSPD_ENABLE    1
@@ -8,10 +8,10 @@ ARSP2PTCH_I     0.1
 ARSPD_FBW_MAX   30
 ARSPD_FBW_MIN   10
 KFF_RDDRMIX     0
-KFF_PTCHCOMP    0.2
+KFF_PTCHCOMP    0.3
 THR_MAX		100
 HDNG2RLL_D      0.5
-HDNG2RLL_I      0.0
+HDNG2RLL_I      0.01
 HDNG2RLL_IMAX   50.0
 HDNG2RLL_P      1.50
 RC2_REV		-1
@@ -48,8 +48,9 @@ FLTMODE5        2
 FLTMODE6        0
 FLTMODE_CH      8
 PTCH2SRV_P      1.5
-RLL2SRV_I       0
+RLL2SRV_I       0.05
 RLL2SRV_P       0.8
 XTRK_ANGLE_CD   500
 XTRK_GAIN_SC    25
+WP_LOITER_RAD   90