diff --git a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp
index ebd9ae3a94..bfcd857092 100644
--- a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp
+++ b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp
@@ -550,7 +550,7 @@ void FwAutotuneAttitudeControl::updateStateMachine(hrt_abstime now)
 	// In case of convergence timeout
 	// the identification sequence is aborted immediately
 	if (_state != state::wait_for_disarm && _state != state::idle && _state != state::fail && _state != state::complete) {
-		if (now - _state_start_time > 20_s
+		if (now - _state_start_time > 30_s
 		    || (_param_fw_at_man_aux.get() && !_aux_switch_en)
 		    || _start_flight_mode != _nav_state) {
 			orb_advert_t mavlink_log_pub = nullptr;