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 9610ef9f78..7f2ba3db8a 100644
--- a/src/modules/multirotor_pos_control/multirotor_pos_control_params.c
+++ b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c
@@ -51,8 +51,8 @@ PARAM_DEFINE_FLOAT(MPC_ALT_RATE_MAX, 3.0f);
 PARAM_DEFINE_FLOAT(MPC_POS_P, 0.1f);
 PARAM_DEFINE_FLOAT(MPC_POS_I, 0.0f);
 PARAM_DEFINE_FLOAT(MPC_POS_D, 0.2f);
-PARAM_DEFINE_FLOAT(MPC_POS_RATE_MAX, 3.0f);
-PARAM_DEFINE_FLOAT(MPC_SLOPE_MAX, 0.3f);
+PARAM_DEFINE_FLOAT(MPC_POS_RATE_MAX, 10.0f);
+PARAM_DEFINE_FLOAT(MPC_SLOPE_MAX, 0.5f);
 
 int parameters_init(struct multirotor_position_control_param_handles *h)
 {
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.c b/src/modules/position_estimator_inav/position_estimator_inav_params.c
index 8dd0ceff82..49dc7f51ff 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_params.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c
@@ -43,9 +43,9 @@
 PARAM_DEFINE_INT32(INAV_USE_GPS, 1);
 PARAM_DEFINE_FLOAT(INAV_W_ALT_BARO, 1.0f);
 PARAM_DEFINE_FLOAT(INAV_W_ALT_ACC, 50.0f);
-PARAM_DEFINE_FLOAT(INAV_W_POS_GPS_P, 1.0f);
-PARAM_DEFINE_FLOAT(INAV_W_POS_GPS_V, 1.0f);
-PARAM_DEFINE_FLOAT(INAV_W_POS_ACC, 50.0f);
+PARAM_DEFINE_FLOAT(INAV_W_POS_GPS_P, 4.0f);
+PARAM_DEFINE_FLOAT(INAV_W_POS_GPS_V, 0.0f);
+PARAM_DEFINE_FLOAT(INAV_W_POS_ACC, 10.0f);
 
 int parameters_init(struct position_estimator_inav_param_handles *h)
 {