diff --git a/test/mavsdk_tests/autopilot_tester.cpp b/test/mavsdk_tests/autopilot_tester.cpp
index e1bbe9efde..f3ba47f871 100644
--- a/test/mavsdk_tests/autopilot_tester.cpp
+++ b/test/mavsdk_tests/autopilot_tester.cpp
@@ -271,9 +271,16 @@ void AutopilotTester::execute_mission()
 	REQUIRE(poll_condition_with_timeout(
 	[this]() { return _mission->start_mission() == Mission::Result::Success; }, std::chrono::seconds(3)));
 
-	// TODO: Adapt time limit based on mission size, flight speed, sim speed factor, etc.
+	float speed_factor = 1.0f;
 
-	wait_for_mission_finished(std::chrono::seconds(90));
+	if (_info != nullptr) {
+		speed_factor = _info->get_speed_factor().second;
+	}
+
+	const float mission_finish_waiting_time_in_simulation_s = 500.f;
+	float mission_finish_waiting_time_in_real_s = mission_finish_waiting_time_in_simulation_s / speed_factor;
+
+	wait_for_mission_finished(std::chrono::seconds(static_cast<int>(mission_finish_waiting_time_in_real_s)));
 }
 
 void AutopilotTester::execute_mission_and_lose_gps()
@@ -388,9 +395,16 @@ void AutopilotTester::execute_mission_raw()
 {
 	REQUIRE(_mission->start_mission() == Mission::Result::Success);
 
-	// TODO: Adapt time limit based on mission size, flight speed, sim speed factor, etc.
+	float speed_factor = 1.0f;
 
-	wait_for_mission_raw_finished(std::chrono::seconds(120));
+	if (_info != nullptr) {
+		speed_factor = _info->get_speed_factor().second;
+	}
+
+	const float waiting_time_simulation_time_s = 300.f; // currently this is tuned for the VTOL wind test
+	float waiting_time_absolute_s = waiting_time_simulation_time_s / speed_factor;
+
+	wait_for_mission_raw_finished(std::chrono::seconds(static_cast<int>(waiting_time_absolute_s)));
 }
 
 void AutopilotTester::execute_rtl()