diff --git a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
index b9b4c21fa5..77c2748921 100644
--- a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+++ b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
@@ -14,6 +14,7 @@ static const uint32_t 		EST_SRC_TIMEOUT = 10000; // 0.01 s
 static const uint32_t 		EST_STDDEV_XY_VALID = 2.0; // 2.0 m
 static const uint32_t 		EST_STDDEV_Z_VALID = 2.0; // 2.0 m
 static const uint32_t 		EST_STDDEV_TZ_VALID = 2.0; // 2.0 m
+static const bool integrate = true; // use accel for integrating
 
 // minimum flow altitude
 static const float flow_min_agl = 0.3;
@@ -55,7 +56,8 @@ BlockLocalPositionEstimator::BlockLocalPositionEstimator() :
 	_map_ref(),
 
 	// block parameters
-	_integrate(this, "INTEGRATE"),
+	_xy_pub_thresh(this, "XY_PUB"),
+	_z_pub_thresh(this, "Z_PUB"),
 	_sonar_z_stddev(this, "SNR_Z"),
 	_sonar_z_offset(this, "SNR_OFF_Z"),
 	_lidar_z_stddev(this, "LDR_Z"),
@@ -303,7 +305,7 @@ void BlockLocalPositionEstimator::update()
 	}
 
 	// is xy valid?
-	bool xy_stddev_ok = sqrt(math::max(_P(X_x, X_x), _P(X_y, X_y))) < EST_STDDEV_XY_VALID;
+	bool xy_stddev_ok = sqrtf(math::max(_P(X_x, X_x), _P(X_y, X_y))) < _xy_pub_thresh.get();
 
 	if (_validXY) {
 		// if valid and gps has timed out, set to not valid
@@ -318,7 +320,7 @@ void BlockLocalPositionEstimator::update()
 	}
 
 	// is z valid?
-	bool z_stddev_ok = sqrt(_P(X_z, X_z)) < EST_STDDEV_Z_VALID;
+	bool z_stddev_ok = sqrtf(_P(X_z, X_z)) < _z_pub_thresh.get();
 
 	if (_validZ) {
 		// if valid and baro has timed out, set to not valid
@@ -333,7 +335,7 @@ void BlockLocalPositionEstimator::update()
 	}
 
 	// is terrain valid?
-	bool tz_stddev_ok = sqrt(_P(X_tz, X_tz)) < EST_STDDEV_TZ_VALID;
+	bool tz_stddev_ok = sqrtf(_P(X_tz, X_tz)) < _z_pub_thresh.get();
 
 	if (_validTZ) {
 		if (!tz_stddev_ok) {
@@ -555,7 +557,7 @@ float BlockLocalPositionEstimator::agl()
 void BlockLocalPositionEstimator::correctionLogic(Vector<float, n_x> &dx)
 {
 	// don't correct bias when rotating rapidly
-	float ang_speed = sqrt(
+	float ang_speed = sqrtf(
 				  _sub_att.get().rollspeed * _sub_att.get().rollspeed +
 				  _sub_att.get().pitchspeed * _sub_att.get().pitchspeed +
 				  _sub_att.get().yawspeed * _sub_att.get().yawspeed);
@@ -838,7 +840,7 @@ void BlockLocalPositionEstimator::predict()
 	// state or covariance
 	if (!_validXY && !_validZ) { return; }
 
-	if (_integrate.get() && _sub_att.get().R_valid) {
+	if (integrate && _sub_att.get().R_valid) {
 		Matrix3f R_att(_sub_att.get().R);
 		Vector3f a(_sub_sensor.get().accelerometer_m_s2);
 		_u = R_att * a;
diff --git a/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp b/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
index 92a3a9fc14..7a5028424f 100644
--- a/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
+++ b/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
@@ -243,7 +243,8 @@ private:
 	struct map_projection_reference_s _map_ref;
 
 	// general parameters
-	BlockParamInt  _integrate;
+	BlockParamFloat  _xy_pub_thresh;
+	BlockParamFloat  _z_pub_thresh;
 
 	// sonar parameters
 	BlockParamFloat  _sonar_z_stddev;
diff --git a/src/modules/local_position_estimator/params.c b/src/modules/local_position_estimator/params.c
index fb8fdd6172..43e6988b97 100644
--- a/src/modules/local_position_estimator/params.c
+++ b/src/modules/local_position_estimator/params.c
@@ -3,14 +3,6 @@
 // 16 is max name length
 
 
-/**
- * Accelerometer integration for prediction.
- *
- * @boolean
- * @group Local Position Estimator
- */
-PARAM_DEFINE_INT32(LPE_INTEGRATE, 1);
-
 /**
  * Optical flow z offset from center
  *
@@ -346,5 +338,26 @@ PARAM_DEFINE_FLOAT(LPE_LON, -86.929);
  * @max 1000
  * @decimal 0
  */
-PARAM_DEFINE_FLOAT(LPE_X_LP, 5.0);
+PARAM_DEFINE_FLOAT(LPE_X_LP, 5.0f);
 
+/**
+ * Required xy standard deviation to publish position
+ *
+ * @group Local Position Estimator
+ * @unit m
+ * @min 0.3
+ * @max 5.0
+ * @decimal 1
+ */
+PARAM_DEFINE_FLOAT(LPE_XY_PUB, 1.0f);
+
+/**
+ * Required z standard deviation to publish altitude/ terrain
+ *
+ * @group Local Position Estimator
+ * @unit m
+ * @min 0.3
+ * @max 5.0
+ * @decimal 1
+ */
+PARAM_DEFINE_FLOAT(LPE_Z_PUB, 1.0f);