diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter b/ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter
index 2ab3d13e80..1fe1fdde6e 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter
@@ -48,35 +48,32 @@ param set-default PWM_MAIN_REV 96 # invert both elevons
 param set-default EKF2_MULTI_IMU 0
 param set-default SENS_IMU_MODE 1
 
-param set-default NPFG_PERIOD 12
-param set-default FW_PR_I 0.2
-param set-default FW_PR_P 0.2
+param set-default FW_P_TC 0.6
+
+param set-default FW_PR_FF 0.1
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MIN -15
-param set-default FW_RR_P 0.2
-param set-default FW_THR_TRIM 0.33
-param set-default FW_THR_MAX 0.6
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_I 0.2
+param set-default FW_RR_P 0.3
+param set-default FW_THR_TRIM 0.35
+param set-default FW_THR_MAX 0.8
 param set-default FW_THR_MIN 0.05
-param set-default FW_T_ALT_TC 2
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-param set-default FW_T_TAS_TC 2
+param set-default FW_T_CLMB_MAX 6
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_SINK_MAX 3
+param set-default FW_T_SINK_MIN 1.6
 
 param set-default MC_AIRMODE 1
+param set-default MC_ROLL_P 3
+param set-default MC_PITCH_P 3
 param set-default MC_ROLLRATE_P 0.3
+param set-default MC_PITCHRATE_P 0.3
 
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
-
-param set-default NAV_ACC_RAD 5
-
+param set-default VT_ARSP_TRANS 10
+param set-default VT_B_TRANS_DUR 5
 param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_S_Y 0.5
+param set-default VT_FW_DIFTHR_S_Y 1
 param set-default VT_F_TRANS_DUR 1.5
-param set-default VT_F_TRANS_THR 0.7
 param set-default VT_TYPE 0
 
 param set-default WV_EN 0