diff --git a/ROMFS/px4fmu_common/init.d/13002_firefly6 b/ROMFS/px4fmu_common/init.d/13002_firefly6
index 4ef9cadcf5..cabe3db1f2 100644
--- a/ROMFS/px4fmu_common/init.d/13002_firefly6
+++ b/ROMFS/px4fmu_common/init.d/13002_firefly6
@@ -1,10 +1,18 @@
 #!nsh
 #
 # @name BirdsEyeView Aerobotics FireFly6
-#
 # @type VTOL Tiltrotor
-#
-# @maintainer Roman Bapst <roman@px4.io>
+# @maintainer Roman Bapst <roman@uaventure.com>
+# @output MAIN1 Front right motor bottom
+# @output MAIN2 Front right motor top
+# @output MAIN3 Back motor bottom
+# @output MAIN4 Back motor top
+# @output MAIN5 Front left motor bottom
+# @output MAIN6 Front left motor top
+# @output AUX1 Tilt servo
+# @output AUX2 Elevon 1
+# @output AUX3 Elevon 2
+# @output AUX4 Gear
 #
 
 sh /etc/init.d/rc.vtol_defaults
@@ -12,16 +20,16 @@ sh /etc/init.d/rc.vtol_defaults
 if [ $AUTOCNF == yes ]
 then
 	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.17
+	param set MC_ROLLRATE_P 0.19
 	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_D 0.005
 	param set MC_ROLLRATE_FF 0.0
 	param set MC_PITCH_P 7.0
 	param set MC_PITCHRATE_P 0.14
 	param set MC_PITCHRATE_I 0.002
-	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_D 0.004
 	param set MC_PITCHRATE_FF 0.0
-	param set MC_YAW_P 3.8
+	param set MC_YAW_P 4.0
 	param set MC_YAW_FF 0.5
 	param set MC_YAWRATE_P 0.22
 	param set MC_YAWRATE_I 0.02