diff --git a/Tools/autotest/balancebot1.txt b/Tools/autotest/balancebot1.txt
index 138b97b1c0..7e121c7533 100644
--- a/Tools/autotest/balancebot1.txt
+++ b/Tools/autotest/balancebot1.txt
@@ -8,12 +8,13 @@ QGC WPL 110
 6	0	3	16	0.000000	0.000000	0.000000	0.000000	40.070900	-105.229950	11085.900391	1
 7	0	3	16	0.000000	0.000000	0.000000	0.000000	40.070843	-105.229858	11085.889648	1
 8	0	3	16	0.000000	0.000000	0.000000	0.000000	40.070801	-105.229820	11085.849609	1
-9	0	3	178	0.000000	2.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+9	0	3	178	0.000000	0.800000	0.000000	0.000000	0.000000	0.000000	0.000000	1
 10	0	3	16	0.000000	0.000000	0.000000	0.000000	40.070721	-105.229736	11085.900391	1
 11	0	3	16	0.000000	0.000000	0.000000	0.000000	40.070827	-105.229530	11086.000000	1
 12	0	3	16	0.000000	0.000000	0.000000	0.000000	40.070904	-105.229362	11085.929688	1
-13	0	3	16	0.000000	0.000000	0.000000	0.000000	40.070995	-105.229118	12669.580078	1
-14	0	3	16	0.000000	0.000000	0.000000	0.000000	40.071133	-105.229233	11085.900391	1
-15	0	3	16	0.000000	0.000000	0.000000	0.000000	40.071255	-105.229355	11085.900391	1
-16	0	3	16	0.000000	0.000000	0.000000	0.000000	40.071404	-105.229485	9502.200195	1
-17	0	3	16	0.000000	0.000000	0.000000	0.000000	40.071369	-105.229828	9502.200195	1
+13	0	3	178	0.000000	1.200000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+14	0	3	16	0.000000	0.000000	0.000000	0.000000	40.070995	-105.229118	12669.580078	1
+15	0	3	16	0.000000	0.000000	0.000000	0.000000	40.071133	-105.229233	11085.900391	1
+16	0	3	16	0.000000	0.000000	0.000000	0.000000	40.071255	-105.229355	11085.900391	1
+17	0	3	16	0.000000	0.000000	0.000000	0.000000	40.071404	-105.229485	9502.200195	1
+18	0	3	16	0.000000	0.000000	0.000000	0.000000	40.071369	-105.229828	9502.200195	1
diff --git a/Tools/autotest/default_params/balancebot.parm b/Tools/autotest/default_params/balancebot.parm
index 0e6eb79f4b..17c99f3c1e 100644
--- a/Tools/autotest/default_params/balancebot.parm
+++ b/Tools/autotest/default_params/balancebot.parm
@@ -1,13 +1,14 @@
-ATC_BAL_P 35
-ATC_BAL_I 35
-ATC_BAL_D 1.2
-ATC_BAL_FILT 50
-ATC_SPEED_P 0.06
-ATC_SPEED_I 0.0
-ATC_SPEED_FILT 0
+ATC_BAL_P 18.0
+ATC_BAL_I 80.0
+ATC_BAL_D 0.005
+ATC_BAL_SPD_FF 0.000000
+ATC_SPEED_P 0.9
+ATC_SPEED_I 0.5
 AHRS_EKF_TYPE 10
+BAL_PITCH_MAX 2.0
 CRUISE_SPEED 1.0
 CRUISE_THROTTLE 0.0
+WP_SPEED 1.0
 FRAME_CLASS 3
 FS_CRASH_CHECK 1
 MOT_SLEWRATE 0