diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
index e6de64054b..156711c26d 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@@ -15,4 +15,11 @@ then
 	param set FW_T_RLL2THR 15
 	param set FW_T_SRATE_P 0.01
 	param set FW_T_TIME_CONST 5
+
+	param set PE_VELNE_NOISE 0.3
+	param set PE_VELD_NOISE 0.5
+	param set PE_POSNE_NOISE 0.5
+	param set PE_POSD_NOISE 0.5
+	param set PE_GBIAS_PNOISE 0.000001
+	param set PE_ABIAS_PNOISE 0.0002
 fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
index 24d9650a0c..1f34282aec 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
@@ -40,6 +40,8 @@ then
 	param set PE_VELD_NOISE 0.7
 	param set PE_POSNE_NOISE 0.5
 	param set PE_POSD_NOISE 1.0
+	param set PE_GBIAS_PNOISE 0.000001
+	param set PE_ABIAS_PNOISE 0.0001
 
 	param set NAV_ACC_RAD 2.0
 	param set RTL_RETURN_ALT 30.0
diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
index 6dc5a65db7..844d540bf0 100644
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
@@ -32,6 +32,13 @@ then
 	param set FW_RR_I 0.00
 	param set FW_RR_IMAX 0.2
 	param set FW_RR_P 0.02
+
+	param set PE_VELNE_NOISE 0.5
+	param set PE_VELD_NOISE 0.7
+	param set PE_POSNE_NOISE 0.5
+	param set PE_POSD_NOISE 1.0
+	param set PE_GBIAS_PNOISE 0.000001
+	param set PE_ABIAS_PNOISE 0.0001
 fi
 
 set PWM_DISARMED 900