diff --git a/ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta b/ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta
index deb9aa3049..c3395eed0d 100644
--- a/ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta
+++ b/ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta
@@ -15,22 +15,28 @@ then
 	param set VT_MOT_COUNT 4
 	param set VT_TRANS_THR 0.75
 
-	param set MC_ROLL_P 7.0
+	param set MC_ROLL_P 6.5
 	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.002
+	param set MC_ROLLRATE_I 0.01
 	param set MC_ROLLRATE_D 0.003
 	param set MC_ROLLRATE_FF 0.0
-	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.12
-	param set MC_PITCHRATE_I 0.002
+	param set MC_PITCH_P 6.5
+	param set MC_PITCHRATE_P 0.15
+	param set MC_PITCHRATE_I 0.01
 	param set MC_PITCHRATE_D 0.003
 	param set MC_PITCHRATE_FF 0.0
-	param set MC_YAW_P 2.8
+	param set MC_YAW_P 3.5
 	param set MC_YAW_FF 0.5
-	param set MC_YAWRATE_P 0.22
-	param set MC_YAWRATE_I 0.02
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
+	param set MC_YAWRATE_MAX 20
+	param set MC_YAWRAUTO_MAX 20
+
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P 0.1
+	param set MPC_ACC_HOR_MAX 2.0
 
 	param set VT_MOT_COUNT 4
 	param set VT_IDLE_PWM_MC 1080