diff --git a/mk/PX4/ROMFS/defaults.parm b/mk/PX4/ROMFS/defaults.parm
index 4aa3bed067..c94615900b 100644
--- a/mk/PX4/ROMFS/defaults.parm
+++ b/mk/PX4/ROMFS/defaults.parm
@@ -70,16 +70,16 @@ PILOT_VELZ_MAX, 133.000000
 PILOT_ACCEL_Z, 100.000000
 POS_XY_P, 0.7
 RALLY_LIMIT_KM, 0.000000
-RATE_PIT_D, 0.010000
-RATE_PIT_FILT_HZ, 40.000000
-RATE_PIT_I, 0.224400
+RATE_PIT_D, 0.005926
+RATE_PIT_FILT_HZ, 20.000000
+RATE_PIT_I, 0.162630
 RATE_PIT_IMAX, 2000
-RATE_PIT_P, 0.224400
-RATE_RLL_D, 0.007000
-RATE_RLL_FILT_HZ, 40.000000
-RATE_RLL_I, 0.151700
+RATE_PIT_P, 0.162630
+RATE_RLL_D, 0.005816
+RATE_RLL_FILT_HZ, 30.000000
+RATE_RLL_I, 0.134186
 RATE_RLL_IMAX, 2000
-RATE_RLL_P, 0.151700
+RATE_RLL_P, 0.134186
 RATE_YAW_D, 0.000000
 RATE_YAW_FILT_HZ, 7.600000
 RATE_YAW_I, 0.066000
@@ -122,8 +122,8 @@ SR1_RC_CHAN, 5.000000
 SR1_EXTRA2, 10.000000
 SR1_POSITION, 10.000000
 SR1_PARAMS, 10.000000
-STB_PIT_P, 7.000000
-STB_RLL_P, 7.000000
+STB_PIT_P, 8.042752
+STB_RLL_P, 9.368738
 STB_YAW_P, 7.000000
 THR_DZ, 10.000000
 THR_MID, 400.000000