diff --git a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
index 13f2279a58..40bf0ac9b8 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
+++ b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
@@ -41,7 +41,6 @@ then
 	param set MC_YAWRATE_P 0.2
 	#param set MC_YAWRATE_I 0.15
 	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.5
 
 	#param set MC_ROLL_TC 0.19
 	#param set MC_PITCH_TC 0.16
@@ -51,7 +50,6 @@ then
 	#param set MC_PITCHRATE_MAX 1600.00000
 	#param set MC_ROLLRATE_MAX 1600.00000
 	#param set MC_YAWRATE_MAX 700.00000
-	param set MPC_MANTHR_MAX 0.90000
 	param set MPC_MANTHR_MIN 0.08000
 	#param set MPC_MAN_TILT_MAX 35.0000
 	#param set MPC_TILTMAX_AIR 20.0000
@@ -60,16 +58,15 @@ then
 	param set RC_FLT_CUTOFF 0.00000
 
 	# Filter settings
-	param set MC_DTERM_CUTOFF 90.00000
 	param set IMU_GYRO_CUTOFF 100.00000
 
 	# Thrust curve (avoids the need for TPA)
 	#param set THR_MDL_FAC 0.25
 
-	# System
-	param set PWM_MAX 1950
-	param set PWM_MIN 1100
-	param set PWM_RATE 0
+	# Obsolete
+	#param set PWM_MAX 1950
+	#param set PWM_MIN 1100
+	#param set PWM_RATE 0
 
 	# Sensors
 	param set SENS_BOARD_ROT 10
@@ -79,22 +76,27 @@ then
 	param set SENS_TFMINI_CFG 103
 	param set SENS_EN_PMW3901 1
 
+	# Smart Battery
+	param set SENS_EN_BATT 1
+
 	# EKF2
 	param set EKF2_AID_MASK 3
 	param set EKF2_GND_EFF_DZ 6.0
 	param set EKF2_HGT_MODE 1
 	param set EKF2_MIN_RNG 0.3
-	param set EKF2_OF_QMIN 50
 	param set EKF2_RNG_AID 1
 
+	# Flow
+	param set EKF2_OF_QMIN 70
+
 	# Position control
-	param set MPC_Z_P 1.00000
-	param set MPC_Z_VEL_P 0.20000
-	param set MPC_Z_VEL_I 0.02000
+	param set MPC_Z_P 1.10000
+	param set MPC_Z_VEL_P 0.30000
+	param set MPC_Z_VEL_I 0.05000
 	param set MPC_Z_VEL_D 0.00000
 
 	param set MPC_THR_MIN 0.06000
-	param set MPC_THR_HOVER 0.3000
+	param set MPC_THR_HOVER 0.4400
 
 	param set MIS_TAKEOFF_ALT 1.1000
 	param set MPC_XY_P 1.7000
@@ -115,7 +117,6 @@ then
 
 	# Filter settings
 	param set IMU_GYRO_CUTOFF 90.00000
-	param set MC_DTERM_CUTOFF 70.00000
 
 	# Don't try to be intelligent on RC loss: just cut the motors
 	param set NAV_RCL_ACT 6
@@ -133,4 +134,15 @@ then
 	param set MAV_1_CONFIG 102
 	param set MAV_1_MODE 0	# normal
 	param set SER_TEL2_BAUD 57600
+
+	# DSHOT
+	param set DSHOT_CONFIG 600
+
+	# EKF OF POSITION
+	param set EKF2_OF_POS_X 0.06
+	param set EKF2_OF_POS_Y 0.03
+	param set EKF2_OF_POS_Z -0.07
+
+	# Failsafe
+	param set COM_LOW_BAT_ACT 3
 fi