diff --git a/Tools/CI/MissionCheck.py b/Tools/CI/MissionCheck.py
index a7421250da..444a0b1483 100755
--- a/Tools/CI/MissionCheck.py
+++ b/Tools/CI/MissionCheck.py
@@ -17,9 +17,9 @@
 
 connection_string       = '127.0.0.1:14540'
 
-import_mission_filename = 'VTOLmission.txt'
-max_execution_time      = 250
-alt_acceptance_radius   = 10
+import_mission_filename = 'VTOL_TAKEOFF.mission'
+max_execution_time      = 200
+alt_acceptance_radius   = 5
 
 ################################################################################################
 # Init
@@ -150,14 +150,14 @@ def save_mission(aFileName):
     Save a mission in the Waypoint file format
     (http://qgroundcontrol.org/mavlink/waypoint_protocol#waypoint_file_format).
     """
-    print "\nSave mission from Vehicle to file: %s" % export_mission_filename
+    print "\nSave mission from Vehicle to file: %s" % aFileName
     #Download mission from vehicle
     missionlist = download_mission()
     #Add file-format information
     output='QGC WPL 110\n'
     #Add home location as 0th waypoint
     home = vehicle.home_location
-    output+="%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\n" % (0,1,0,16,0,0,0,0,home.lat,home.lon,home.alt,1)
+    output+="%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\n\n\n" % (0,1,0,16,0,0,0,0,home.lat,home.lon,home.alt,1)
     #Add commands
     for cmd in missionlist:
         commandline="%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\n" % (cmd.seq,cmd.current,cmd.frame,cmd.command,cmd.param1,cmd.param2,cmd.param3,cmd.param4,cmd.x,cmd.y,cmd.z,cmd.autocontinue)
diff --git a/Tools/CI/VTOL_TAKEOFF.mission b/Tools/CI/VTOL_TAKEOFF.mission
new file mode 100644
index 0000000000..0c0d6592ba
--- /dev/null
+++ b/Tools/CI/VTOL_TAKEOFF.mission
@@ -0,0 +1,5 @@
+QGC WPL 110
+1	0	3	84	0.0	0.0	-0.0	0.0	47.3975105286	8.55026626587	10.0	1
+1	0	3	16	0.0	0.0	-0.0	0.0	47.395450592	8.55018424988	10.0	1
+2	0	3	16	0.0	0.0	-0.0	0.0	47.3954582214	8.54566764832	10.0	1
+3	0	3	85	0.0	0.0	-0.0	0.0	47.3977355957	8.54561138153	10.0	1
diff --git a/Tools/CI/VTOLmission.txt b/Tools/CI/VTOLmission.txt
deleted file mode 100644
index 65bb78aea2..0000000000
--- a/Tools/CI/VTOLmission.txt
+++ /dev/null
@@ -1,9 +0,0 @@
-QGC WPL 110
-0	1	0	16	0	0	0	0	47.3979949951	8.54559612274	25.0	1
-1	0	2	3000	4.0	0.0	0.0	0.0	47.3980331421	8.54578971863	25.0	1
-2	0	3	16	0.0	0.0	-0.0	0.0	47.399269104	8.54557228088	25.0	1
-3	0	3	16	0.0	0.0	-0.0	0.0	47.3992652893	8.54230213165	25.0	1
-4	0	3	16	0.0	0.0	-0.0	0.0	47.3974761963	8.54239082336	25.0	1
-5	0	3	16	0.0	0.0	-0.0	0.0	47.3976669312	8.54509449005	25.0	1
-6	0	2	3000	3.0	0.0	0.0	0.0	47.3977851868	8.54526233673	25.0	1
-7	0	3	21	25.0	0.0	-0.0	0.0	47.3979797363	8.54460906982	25.0	1