diff --git a/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp b/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
index 319bcfe3bf5ae5..4cfcc46bae83be 100644
--- a/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
+++ b/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
@@ -549,7 +549,7 @@ void AC_AutoTune_Multi::twitching_abort_rate(float angle, float rate, float angl
         if (is_equal(rate, meas_rate_min) || (angle_min > 0.95 * angle_max)) {
             // we have reached the angle limit before completing the measurement of maximum and minimum
             // reduce the maximum target rate
-            if (step_scaler > 0.25f) {
+            if (step_scaler > 0.2f) {
                 step_scaler *= 0.9f;
             } else {
                 LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_REACHED_LIMIT);