Movistar Yamaha's Jorge Lorenzo is seeking a significant improvement on Friday in practice for the Qatar MotoGP after ending FP1 fourth fastest on the YZR-M1.

Lorenzo was a second off his best lap time from 2014 and said the slippery track conditions made it difficult to have the confidence to push to the limit.

He recorded his best lap time in 1m 55.698s to finish 0.417s down on the Repsol Honda of Marc Marquez and Lorenzo is hoping to step up a gear during second practice.

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"Everybody has been quite fast on these new tyres, even if the track wasn't perfect. Moto2 almost broke a record, I think, but in MotoGP we need a little bit more grip," he said.

"It's difficult to have confidence but I think today our side has done a quite good job from the beginning.

"When I feel great on the bike, which wasn't on the last run, I feel great. To be honest, I hope to be much faster tomorrow. We are still a second from my best lap time from last year," he added.

"We have a margin, but for a first practice, knowing the track is not perfect, this is not a bad start."