diff --git a/ROMFS/px4fmu_common/init.d/10_dji_f330 b/ROMFS/px4fmu_common/init.d/10_dji_f330
index d21759507d..b8fe5fc31c 100644
--- a/ROMFS/px4fmu_common/init.d/10_dji_f330
+++ b/ROMFS/px4fmu_common/init.d/10_dji_f330
@@ -10,12 +10,12 @@ then
 	# Set all params here, then disable autoconfig
 	param set SYS_AUTOCONFIG 0
 
-	param set MC_ATTRATE_D 0.002
+	param set MC_ATTRATE_D 0.004
 	param set MC_ATTRATE_I 0.0
-	param set MC_ATTRATE_P 0.09
+	param set MC_ATTRATE_P 0.12
 	param set MC_ATT_D 0.0
 	param set MC_ATT_I 0.0
-	param set MC_ATT_P 6.8
+	param set MC_ATT_P 7.0
 	param set MC_YAWPOS_D 0.0
 	param set MC_YAWPOS_I 0.0
 	param set MC_YAWPOS_P 2.0
diff --git a/ROMFS/px4fmu_common/init.d/16_3dr_iris b/ROMFS/px4fmu_common/init.d/16_3dr_iris
index d47ecb3932..3ac086b915 100644
--- a/ROMFS/px4fmu_common/init.d/16_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/16_3dr_iris
@@ -10,12 +10,12 @@ then
 	# Set all params here, then disable autoconfig
 	param set SYS_AUTOCONFIG 0
 
-	param set MC_ATTRATE_D 0.006
+	param set MC_ATTRATE_D 0.004
 	param set MC_ATTRATE_I 0.0
-	param set MC_ATTRATE_P 0.17
+	param set MC_ATTRATE_P 0.13
 	param set MC_ATT_D 0.0
 	param set MC_ATT_I 0.0
-	param set MC_ATT_P 5.0
+	param set MC_ATT_P 9.0
 	param set MC_YAWPOS_D 0.0
 	param set MC_YAWPOS_I 0.15
 	param set MC_YAWPOS_P 0.5