diff --git a/Aircraft/Generic/generic-autopilot.xml b/Aircraft/Generic/generic-autopilot.xml
index f0c574854..cacebbc97 100644
--- a/Aircraft/Generic/generic-autopilot.xml
+++ b/Aircraft/Generic/generic-autopilot.xml
@@ -318,13 +318,13 @@
       <prop>/autopilot/internal/target-climb-rate-fps</prop>
     </output>
     <config>
-      <Kp>2.0</Kp>        <!-- proportional gain -->
+      <Kp>1.0</Kp>        <!-- proportional gain -->
       <beta>1.0</beta>    <!-- input value weighing factor -->
       <alpha>0.1</alpha>  <!-- low pass filter weighing factor -->
       <gamma>0.0</gamma>  <!-- input value weighing factor for -->
                           <!-- unfiltered derivative error -->
-      <Ti>1000.0</Ti>     <!-- integrator time -->
-      <Td>0.00001</Td>    <!-- derivator time -->
+      <Ti>25.0</Ti>     <!-- integrator time -->
+      <Td>0.000000001</Td>    <!-- derivator time -->
       <u_min>-16.67</u_min> <!-- minimum output clamp -->
       <u_max>8.33</u_max> <!-- maximum output clamp -->
     </config>
@@ -369,7 +369,7 @@
     <debug>false</debug>
     <enable>
       <prop>/autopilot/locks/altitude</prop>
-      <value>terrain-follow</value>
+      <value>agl-hold</value>
     </enable>
     <input>
       <prop>/position/altitude-agl-ft</prop>
@@ -377,14 +377,17 @@
     <reference>
       <prop>/autopilot/settings/target-agl-ft</prop>
     </reference>
+    <output>
+      <prop>/autopilot/internal/target-climb-rate-fps</prop>
+    </output>
     <config>
       <Kp>1.0</Kp>        <!-- proportional gain -->
       <beta>1.0</beta>    <!-- input value weighing factor -->
       <alpha>0.1</alpha>  <!-- low pass filter weighing factor -->
       <gamma>0.0</gamma>  <!-- input value weighing factor for -->
                           <!-- unfiltered derivative error -->
-      <Ti>10000.0</Ti>    <!-- integrator time -->
-      <Td>0.00001</Td>    <!-- derivator time -->
+      <Ti>25.0</Ti>     <!-- integrator time -->
+      <Td>0.000000001</Td>    <!-- derivator time -->
       <u_min>-16.67</u_min> <!-- minimum output clamp -->
       <u_max>8.33</u_max> <!-- maximum output clamp -->
     </config>
@@ -396,7 +399,7 @@
     <debug>false</debug>
     <enable>
       <prop>/autopilot/locks/altitude</prop>
-      <value>terrain-follow</value>
+      <value>agl-hold</value>
     </enable>
     <input>
       <prop>/velocities/vertical-speed-fps</prop>