diff --git a/src/modules/multirotor_att_control/multirotor_attitude_control.c b/src/modules/multirotor_att_control/multirotor_attitude_control.c
index c78232f11c..8245aa5609 100644
--- a/src/modules/multirotor_att_control/multirotor_attitude_control.c
+++ b/src/modules/multirotor_att_control/multirotor_attitude_control.c
@@ -62,15 +62,15 @@
 #include <systemlib/param/param.h>
 #include <drivers/drv_hrt.h>
 
-PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.3f);
+PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 2.0f);
 PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.15f);
 PARAM_DEFINE_FLOAT(MC_YAWPOS_D, 0.0f);
 //PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 1.0f);
 //PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 3.0f);
 
-PARAM_DEFINE_FLOAT(MC_ATT_P, 0.2f);
+PARAM_DEFINE_FLOAT(MC_ATT_P, 6.8f);
 PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f);
-PARAM_DEFINE_FLOAT(MC_ATT_D, 0.05f);
+PARAM_DEFINE_FLOAT(MC_ATT_D, 0.0f);
 //PARAM_DEFINE_FLOAT(MC_ATT_AWU, 0.05f);
 //PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.4f);
 
diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c
index 0a336be47d..adb63186c0 100644
--- a/src/modules/multirotor_att_control/multirotor_rate_control.c
+++ b/src/modules/multirotor_att_control/multirotor_rate_control.c
@@ -59,14 +59,14 @@
 #include <systemlib/err.h>
 #include <drivers/drv_hrt.h>
 
-PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.0f); /* same on Flamewheel */
-PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
-PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f); /* same on Flamewheel */
+PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.005f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.2f);
 //PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f);
 //PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 1.0f);
 
-PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.0f); /* 0.15 F405 Flamewheel */
-PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.0f);
+PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.09f); /* 0.15 F405 Flamewheel */
+PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.002f);
 PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);
 //PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f);
 //PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 1.0f);	/**< roughly < 500 deg/s limit */
diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control_params.c b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c
index bf9578ea3d..b7041e4d57 100644
--- a/src/modules/multirotor_pos_control/multirotor_pos_control_params.c
+++ b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c
@@ -54,7 +54,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_D, 0.0f);
 PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.2f);
 PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.0f);
 PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.0f);
-PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 10.0f);
+PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f);
 PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 0.5f);
 
 int parameters_init(struct multirotor_position_control_param_handles *h)