diff --git a/libraries/APM_Control/AP_AutoTune.cpp b/libraries/APM_Control/AP_AutoTune.cpp
index 8bef311acb..939047c611 100644
--- a/libraries/APM_Control/AP_AutoTune.cpp
+++ b/libraries/APM_Control/AP_AutoTune.cpp
@@ -96,11 +96,11 @@ static const struct {
     { 0.70, 50 },   // level 4
     { 0.60, 60 },   // level 5
     { 0.50, 75 },   // level 6
-    { 0.25, 90 },   // level 7
-    { 0.12, 120 },   // level 8
-    { 0.06, 160 },   // level 9
-    { 0.03, 210 },   // level 10
-    { 0.01, 300 },   // (yes, it goes to 11)
+    { 0.30, 90 },   // level 7
+    { 0.2, 120 },   // level 8
+    { 0.15, 160 },   // level 9
+    { 0.1, 210 },   // level 10
+    { 0.1, 300 },   // (yes, it goes to 11)
 };
 
 /*
@@ -148,7 +148,6 @@ void AP_AutoTune::stop(void)
         running = false;
         save_gains(restore);
         current = restore;
-        rpid.set_slew_limit_scale(45);
     }
 }
 
diff --git a/libraries/APM_Control/AP_PitchController.cpp b/libraries/APM_Control/AP_PitchController.cpp
index cd95e05115..0ce57bf4fd 100644
--- a/libraries/APM_Control/AP_PitchController.cpp
+++ b/libraries/APM_Control/AP_PitchController.cpp
@@ -287,8 +287,8 @@ int32_t AP_PitchController::get_servo_out(int32_t angle_err, float scaler, bool
 	float rate_offset;
 	bool inverted;
 
-    if (gains.tau < 0.01f) {
-        gains.tau.set(0.01f);
+    if (gains.tau < 0.05f) {
+        gains.tau.set(0.05f);
     }
 
     rate_offset = _get_coordination_rate_offset(aspeed, inverted);
diff --git a/libraries/APM_Control/AP_RollController.cpp b/libraries/APM_Control/AP_RollController.cpp
index 408c9f7edb..8f65851ffa 100644
--- a/libraries/APM_Control/AP_RollController.cpp
+++ b/libraries/APM_Control/AP_RollController.cpp
@@ -221,8 +221,8 @@ int32_t AP_RollController::get_rate_out(float desired_rate, float scaler)
 */
 int32_t AP_RollController::get_servo_out(int32_t angle_err, float scaler, bool disable_integrator)
 {
-    if (gains.tau < 0.01f) {
-        gains.tau.set(0.01f);
+    if (gains.tau < 0.05f) {
+        gains.tau.set(0.05f);
     }
 	
 	// Calculate the desired roll rate (deg/sec) from the angle error