diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
index 8cb15f8e5a..cbf39d464d 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -131,6 +131,14 @@ then
 	param set MPC_HOLD_MAX_Z 2.0
 	param set MPC_Z_VEL_I 0.15
 	param set MPC_Z_VEL_P 0.6
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P 0.2
+	param set MPC_XY_VEL_I 0.02
+	param set MPC_XY_VEL_D 0.016
+
+	param set MPC_JERK_MIN 10.0
+	param set MPC_JERK_MAX 20.0
+	param set MPC_ACC_HOR_MAX 3.0
 
 	param set NAV_ACC_RAD 2.0
 	param set NAV_DLL_ACT 2