diff --git a/posix-configs/SITL/init/rcS_gazebo_standard_vtol b/posix-configs/SITL/init/rcS_gazebo_standard_vtol
index 3487aedf0f..908ab2209a 100644
--- a/posix-configs/SITL/init/rcS_gazebo_standard_vtol
+++ b/posix-configs/SITL/init/rcS_gazebo_standard_vtol
@@ -1,10 +1,6 @@
 uorb start
 param load
 param set MAV_TYPE 20
-param set MC_PITCHRATE_P 0.3
-param set MC_ROLLRATE_P 0.3
-param set MC_YAW_P 2.0
-param set MC_YAWRATE_P 0.35
 param set VT_TYPE 2
 param set SYS_AUTOSTART 4010
 param set SYS_RESTART_TYPE 2
@@ -22,6 +18,12 @@ param set CAL_ACC0_YSCALE 1.01
 param set CAL_ACC0_ZSCALE 1.01
 param set CAL_ACC1_XOFF 0.01
 param set CAL_MAG0_XOFF 0.01
+param set MC_ROLLRATE_P 0.25
+param set MC_PITCHRATE_P 0.25
+param set MC_PITCH_P 5
+param set MC_ROLL_P 5
+param set MC_ROLLRATE_I 0.1
+param set MC_PITCHRATE_I 0.1
 param set MPC_XY_P 0.15
 param set MPC_XY_VEL_P 0.05
 param set MPC_XY_VEL_D 0.005