diff --git a/Tools/Frame_params/amovlab-p200.param b/Tools/Frame_params/amovlab-p200.param
index 9379c06f31..62339929a0 100644
--- a/Tools/Frame_params/amovlab-p200.param
+++ b/Tools/Frame_params/amovlab-p200.param
@@ -1,21 +1,21 @@
 #NOTE: Amovlab P200 params for ArduPilot Copter 4.0.0
 ANGLE_MAX,3500
-ACRO_YAW_P,2.5
+ACRO_YAW_P,1.8
 ATC_ACCEL_P_MAX,110000
 ATC_ACCEL_R_MAX,110000
-ATC_ACCEL_Y_MAX,27000
+ATC_ACCEL_Y_MAX,17000
 ATC_ANG_PIT_P,7.6
 ATC_ANG_RLL_P,7.6
-ATC_ANG_YAW_P,7.2
-ATC_RAT_PIT_D,0.002
+ATC_ANG_YAW_P,4.7
+ATC_RAT_PIT_D,0.0015
 ATC_RAT_PIT_I,0.09
 ATC_RAT_PIT_P,0.09
-ATC_RAT_RLL_D,0.002
+ATC_RAT_RLL_D,0.0015
 ATC_RAT_RLL_I,0.09
 ATC_RAT_RLL_P,0.09
-ATC_RAT_YAW_P,0.6
-ATC_RAT_YAW_I,0.06
-ATC_RAT_YAW_FLTE,2.0
+ATC_RAT_YAW_P,0.8
+ATC_RAT_YAW_I,0.08
+ATC_RAT_YAW_FLTE,1.0
 BATT_AMP_PERVLT,39.877
 BATT_CAPACITY,3300
 BATT_MONITOR,4