diff --git a/ROMFS/px4fmu_common/init.d/13008_QuadRanger b/ROMFS/px4fmu_common/init.d/13008_QuadRanger
index 83f6ac6def..eb34ae5c9d 100644
--- a/ROMFS/px4fmu_common/init.d/13008_QuadRanger
+++ b/ROMFS/px4fmu_common/init.d/13008_QuadRanger
@@ -19,21 +19,27 @@ then
 	param set PWM_AUX_REV2 1
 
 	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.25
-	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLLRATE_D 0.004
 	param set MC_ROLLRATE_FF 0.0
 	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.23
-	param set MC_PITCHRATE_I 0.002
-	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_P 0.15
+	param set MC_PITCHRATE_I 0.1
+	param set MC_PITCHRATE_D 0.004
 	param set MC_PITCHRATE_FF 0.0
-	param set MC_YAW_P 2.8
-	param set MC_YAW_FF 0.5
-	param set MC_YAWRATE_P 0.22
-	param set MC_YAWRATE_I 0.02
+	param set MC_YAW_P 3.5
+	param set MC_YAW_FF 0.7
+	param set MC_YAWRATE_P 0.6
+	param set MC_YAWRATE_I 0.04
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
+
+	param set MPC_ACC_HOR_MAX 2.0
+
+	param set VT_ARSP_TRANS 15.0
+	param set VT_ARSP_BLEND 10.0
+	param set VT_B_TRANS_DUR 4.0
 fi
 
 set MIXER vtol_quad_x