I have positive memories of The Pirate Planet, largely for the sense of horror when the solution was revealed - never mind bloody princesses, that was a whole planet - and also I liked the character known as the Nurse, and would have liked more of her.

Is Androids of Tara the one based on Prisoner of Zenda?

Incidentally, jumping back 13 seasons - I read Donald Cotton's novelisation of The Myth Makers on the trains to and from Headingley last month. It was a hoot, with a first-class Odysseus. Though I correctly deduced that Homer didn't appear in the broadcast version, because the way he kept hurrying to and fro across the plain to witness scenes in Troy and the Greek camp never made any sense.