diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index 7814620349..a938084c7a 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -32,14 +32,14 @@ const AP_Param::GroupInfo AP_AHRS::var_info[] PROGMEM = {
     // @Description: This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.
     // @Range: 0.1 0.4
     // @Increment: .01
-    AP_GROUPINFO("YAW_P", 4,    AP_AHRS, _kp_yaw, 0.4f),
+    AP_GROUPINFO("YAW_P", 4,    AP_AHRS, _kp_yaw, 0.3f),
 
     // @Param: RP_P
     // @DisplayName: AHRS RP_P
     // @Description: This controls how fast the accelerometers correct the attitude
     // @Range: 0.1 0.4
     // @Increment: .01
-    AP_GROUPINFO("RP_P",  5,    AP_AHRS, _kp, 0.4f),
+    AP_GROUPINFO("RP_P",  5,    AP_AHRS, _kp, 0.3f),
 
     // @Param: WIND_MAX
     // @DisplayName: Maximum wind