Jake Taylor, Jeff Goulding, Darryl Duffy and Jermaine McGlashan were on the scoresheet at Whaddon Road to dispose of Wanderers, who had won four of their previous five.
"It was a disappointing day," Ainsworth said. "We've done really well lately and we can't win every game. It's brought us back to down to earth and Cheltenham played very well.
"We had three second-year apprentices on the pitch at the end. I am still buzzing about the way we are, the way we do things and I am still confident that we can go to Plymouth on Saturday and give them a game, that's the way we are.
"There will be nobody down and there is plenty of passion in the dressing room."