diff --git a/Tools/autotest/Rover.parm b/Tools/autotest/Rover.parm
index 41dcfb2b04..854be33dcb 100644
--- a/Tools/autotest/Rover.parm
+++ b/Tools/autotest/Rover.parm
@@ -16,4 +16,6 @@ MODE4        10
 MODE5        2
 MODE6        0
 STEER2SRV_P     1.5
-HDNG2STEER_P  1.0
+HDNG2STEER_P  1.1
+XTRK_GAIN_SC 140
+
diff --git a/Tools/autotest/rover1.txt b/Tools/autotest/rover1.txt
index 9664246746..4732b55ddb 100644
--- a/Tools/autotest/rover1.txt
+++ b/Tools/autotest/rover1.txt
@@ -1,15 +1,21 @@
 QGC WPL 110
-0	1	0	16	0	0	0	0	40.071375	-105.229789	1584.000000	1
-1	0	3	16	0.000000	0.000000	0.000000	0.000000	40.071300	-105.230028	0.000000	1
-2	0	3	16	0.000000	0.000000	0.000000	0.000000	40.071186	-105.230063	0.000000	1
-3	0	3	16	0.000000	0.000000	0.000000	0.000000	40.070974	-105.229969	0.000000	1
-4	0	3	16	0.000000	0.000000	0.000000	0.000000	40.070935	-105.229915	0.000000	1
-5	0	3	16	0.000000	0.000000	0.000000	0.000000	40.070869	-105.229937	0.000000	1
-6	0	3	16	0.000000	0.000000	0.000000	0.000000	40.070845	-105.229848	0.000000	1
-7	0	3	16	0.000000	0.000000	0.000000	0.000000	40.070713	-105.229701	0.000000	1
-8	0	3	16	0.000000	0.000000	0.000000	0.000000	40.070738	-105.229535	0.000000	1
-9	0	3	16	0.000000	0.000000	0.000000	0.000000	40.070806	-105.229277	0.000000	1
-10	0	3	16	0.000000	0.000000	0.000000	0.000000	40.070910	-105.229081	0.000000	1
-11	0	3	16	0.000000	0.000000	0.000000	0.000000	40.071251	-105.229363	0.000000	1
-12	0	3	16	0.000000	0.000000	0.000000	0.000000	40.071403	-105.229486	0.000000	1
-13	0	3	16	0.000000	0.000000	0.000000	0.000000	40.071371       -105.229829  	0.000000	1
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	40.071377	-105.229790	1583.699951	1
+1	0	3	178	0.000000	5.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+2	1	3	16	0.000000	0.000000	0.000000	0.000000	40.071289	-105.230057	11085.900391	1
+3	0	3	16	0.000000	0.000000	0.000000	0.000000	40.071186	-105.230064	9502.200195	1
+4	0	3	16	0.000000	0.000000	0.000000	0.000000	40.071083	-105.230026	11085.900391	1
+5	0	3	178	0.000000	1.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+6	0	3	16	0.000000	0.000000	0.000000	0.000000	40.071011	-105.230003	11085.900391	1
+7	0	3	16	0.000000	0.000000	0.000000	0.000000	40.070999	-105.229919	11085.900391	1
+8	0	3	16	0.000000	0.000000	0.000000	0.000000	40.070900	-105.229950	11085.900391	1
+9	0	3	16	0.000000	0.000000	0.000000	0.000000	40.070843	-105.229858	11085.889648	1
+10	0	3	16	0.000000	0.000000	0.000000	0.000000	40.070801	-105.229820	11085.849609	1
+11	0	3	178	0.000000	5.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+12	0	3	16	0.000000	0.000000	0.000000	0.000000	40.070721	-105.229736	11085.900391	1
+13	0	3	16	0.000000	0.000000	0.000000	0.000000	40.070827	-105.229530	11086.000000	1
+14	0	3	16	0.000000	0.000000	0.000000	0.000000	40.070904	-105.229362	11085.929688	1
+15	0	3	16	0.000000	0.000000	0.000000	0.000000	40.070995	-105.229118	12669.580078	1
+16	0	3	16	0.000000	0.000000	0.000000	0.000000	40.071133	-105.229233	11085.900391	1
+17	0	3	16	0.000000	0.000000	0.000000	0.000000	40.071255	-105.229355	11085.900391	1
+18	0	3	16	0.000000	0.000000	0.000000	0.000000	40.071404	-105.229485	9502.200195	1
+19	0	3	16	0.000000	0.000000	0.000000	0.000000	40.071369	-105.229828	9502.200195	1