diff --git a/libraries/AP_SafeRTL/examples/SafeRTL_test/SafeRTL_test.cpp b/libraries/AP_SafeRTL/examples/SafeRTL_test/SafeRTL_test.cpp
index cf2b31dbb3..b34fbf9313 100644
--- a/libraries/AP_SafeRTL/examples/SafeRTL_test/SafeRTL_test.cpp
+++ b/libraries/AP_SafeRTL/examples/SafeRTL_test/SafeRTL_test.cpp
@@ -69,16 +69,6 @@ void loop()
     run_time = AP_HAL::micros() - reference_time;
     check_path(test_path_after_simplifying, "simplify", run_time);
 
-    // test pruning
-    hal.scheduler->delay(5);    // delay 5 milliseconds because request_through_cleanup uses millisecond timestamps
-    reset();
-    reference_time = AP_HAL::micros();
-    while (!safe_rtl.request_thorough_cleanup(AP_SafeRTL::THOROUGH_CLEAN_PRUNE_ONLY)) {
-        safe_rtl.run_background_cleanup();
-    }
-    run_time = AP_HAL::micros() - reference_time;
-    check_path(test_path_after_pruning, "prune", run_time);
-
     // test both simplification and pruning
     hal.scheduler->delay(5);    // delay 5 milliseconds because request_through_cleanup uses millisecond timestamps
     reset();
@@ -87,7 +77,7 @@ void loop()
         safe_rtl.run_background_cleanup();
     }
     run_time = AP_HAL::micros() - reference_time;
-    check_path(test_path_complete, "both", run_time);
+    check_path(test_path_complete, "simplify and pruning", run_time);
 
     // delay before next display
     hal.scheduler->delay(5e3); // 5 seconds
diff --git a/libraries/AP_SafeRTL/examples/SafeRTL_test/SafeRTL_test.h b/libraries/AP_SafeRTL/examples/SafeRTL_test/SafeRTL_test.h
index 99378ccc44..6275edcb78 100644
--- a/libraries/AP_SafeRTL/examples/SafeRTL_test/SafeRTL_test.h
+++ b/libraries/AP_SafeRTL/examples/SafeRTL_test/SafeRTL_test.h
@@ -294,73 +294,6 @@ std::vector<Vector3f> test_path_after_simplifying {
     {300.0, 300.0, 295.0},
 };
 
-std::vector<Vector3f> test_path_after_pruning {
-    {0.0, 0.0, 0.0},        // 0
-    {3.0, 0.0, 0.0},
-    {6.0, 0.0, 0.0},
-    {10.0, 0.0, 0.0},
-    {10.0, 3.0, 0.0},
-    {13.0, 3.0, 0.0},
-    {13.0, 6.0, 0.0},
-    {16.0, 6.0, 0.0},
-    {16.0, 8.0, 1.0},
-    {18.0, 8.0, 0.0},
-    {20.0, 10.0, 0.0},      // 10
-    {20.0, 10.0, 10.0},
-    {23.0, 10.0, 10.0},
-    {23.0, 13.0, 10.0},
-    {26.0, 13.0, 10.0},
-    {26.0, 16.0, 10.0},
-    {29.0, 16.0, 10.0},
-    {29.0, 19.0, 10.0},
-    {32.0, 19.0, 10.0},
-    {32.0, 22.0, 10.0},
-    {35.0, 22.0, 10.0},     // 20
-    {35.0, 25.0, 10.0},
-    {38.0, 25.0, 10.0},
-    {38.0, 28.0, 10.0},
-    {41.0, 28.0, 10.0},
-    {41.0, 31.0, 10.0},
-    {44.0, 31.0, 10.0},
-    {44.0, 34.0, 10.0},
-    {47.0, 34.0, 10.0},
-    {47.0, 37.0, 10.0},
-    {51.0, 37.0, 10.0},     // 30
-    {51.0, 41.0, 10.0},
-    {54.0, 41.0, 10.0},
-    {54.0, 44.0, 10.0},
-    {57.0, 44.0, 10.0},
-    {57.0, 47.0, 10.0},
-    {60.0, 47.0, 10.0},
-    {60.0, 40.0, 10.0},
-    {63.0, 40.0, 10.0},
-    {63.0, 43.0, 10.0},
-    {66.0, 43.0, 10.0},     // 40
-    {66.0, 46.0, 10.0},
-    {69.0, 46.0, 10.0},
-    {69.0, 49.0, 10.0},
-    {72.0, 49.0, 10.0},
-    {72.0, 52.0, 10.0},
-    {75.0, 52.0, 10.0},
-    {75.0, 55.0, 10.0},
-    {100.0, 100.0, 100.0},
-    {103.0, 100.0, 100.0},
-    {200.0, 200.0, 200.0},  // 50
-    {203.0, 200.0, 200.0},
-    {203.0, 203.0, 200.0},
-    {206.0, 203.0, 200.0},
-    {206.0, 206.0, 200.0},
-    {209.0, 206.0, 200.0},
-    {209.0, 209.0, 200.0},
-    {212.0, 209.0, 200.0},
-    {212.0, 212.0, 200.0},
-    {220.0, 220.0, 200.0},
-    {223.91304, 220.3913, 199.95653},   // 60
-    {229.0, 220.0, 200.0},
-    {300.2381, 300.0, 300.0},
-    {300.0, 300.0, 295.0},
-};
-
 std::vector<Vector3f> test_path_complete {
     {0.0, 0.0, 0.0},        // 0
     {10.0, 0.0, 0.0},
@@ -410,9 +343,10 @@ std::vector<Vector3f> test_path_complete {
     {75.0, 55.0, 10.0},
     {100.0, 100.0, 100.0},
     {103.0, 100.0, 100.0},
+    {103.0, 100.0, 100.0},
     {200.0, 200.0, 200.0},
-    {203.0, 200.0, 200.0},
-    {203.0, 203.0, 200.0},  // 50
+    {203.0, 200.0, 200.0},  // 50
+    {203.0, 203.0, 200.0},
     {206.0, 203.0, 200.0},
     {206.0, 206.0, 200.0},
     {209.0, 206.0, 200.0},
@@ -420,8 +354,9 @@ std::vector<Vector3f> test_path_complete {
     {212.0, 209.0, 200.0},
     {212.0, 212.0, 200.0},
     {220.0, 220.0, 200.0},
-    {223.91304, 220.3913, 199.95653},
+    {223.0, 220.0, 200.0},
+    {223.2368474, 220.0789542, 199.5263052}, // 60
     {229.0, 220.0, 200.0},
-    {300.2381, 300.0, 300.0},   // 60
+    {300.1223662, 300.0, 300.0696305},
     {300.0, 300.0, 295.0},
 };