diff --git a/posix-configs/SITL/init/rcS_gazebo_iris b/posix-configs/SITL/init/rcS_gazebo_iris
index 47f862fb045..b416d1f6841 100644
--- a/posix-configs/SITL/init/rcS_gazebo_iris
+++ b/posix-configs/SITL/init/rcS_gazebo_iris
@@ -30,10 +30,10 @@ param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 5.0
 param set RTL_LAND_DELAY 5
 param set MIS_TAKEOFF_ALT 2.5
-param set MC_ROLLRATE_P 0.3
-param set MC_PITCHRATE_P 0.3
-param set MC_PITCH_P 7
-param set MC_ROLL_P 7
+param set MC_ROLLRATE_P 0.25
+param set MC_PITCHRATE_P 0.25
+param set MC_PITCH_P 5.5
+param set MC_ROLL_P 5.5
 param set MC_ROLLRATE_I 0.1
 param set MC_PITCHRATE_I 0.1
 param set MPC_HOLD_MAX_Z 2.0
diff --git a/posix-configs/SITL/init/rcS_gazebo_solo b/posix-configs/SITL/init/rcS_gazebo_solo
index ded76b8505b..eeb85b54a6f 100644
--- a/posix-configs/SITL/init/rcS_gazebo_solo
+++ b/posix-configs/SITL/init/rcS_gazebo_solo
@@ -27,10 +27,10 @@ param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 10.0
 param set RTL_LAND_DELAY 0
 param set MIS_TAKEOFF_ALT 2.5
-param set MC_ROLLRATE_P 0.3
-param set MC_PITCHRATE_P 0.3
-param set MC_PITCH_P 7
-param set MC_ROLL_P 7
+param set MC_ROLLRATE_P 0.25
+param set MC_PITCHRATE_P 0.25
+param set MC_PITCH_P 5.5
+param set MC_ROLL_P 5.5
 param set MC_ROLLRATE_I 0.1
 param set MC_PITCHRATE_I 0.1
 param set MPC_HOLD_MAX_Z 2.0
diff --git a/posix-configs/SITL/init/rcS_gazebo_standard_vtol b/posix-configs/SITL/init/rcS_gazebo_standard_vtol
index 6e7861b8967..f43d6330b4b 100644
--- a/posix-configs/SITL/init/rcS_gazebo_standard_vtol
+++ b/posix-configs/SITL/init/rcS_gazebo_standard_vtol
@@ -18,8 +18,8 @@ param set CAL_ACC0_YSCALE 1.01
 param set CAL_ACC0_ZSCALE 1.01
 param set CAL_ACC1_XOFF 0.01
 param set CAL_MAG0_XOFF 0.01
-param set MC_ROLLRATE_P 0.3
-param set MC_PITCHRATE_P 0.3
+param set MC_ROLLRATE_P 0.25
+param set MC_PITCHRATE_P 0.25
 param set MC_PITCH_P 5.5
 param set MC_ROLL_P 5.5
 param set MC_ROLLRATE_I 0.1
diff --git a/posix-configs/SITL/init/rcS_gazebo_tailsitter b/posix-configs/SITL/init/rcS_gazebo_tailsitter
index 5d3d44e6330..d5edadeea56 100644
--- a/posix-configs/SITL/init/rcS_gazebo_tailsitter
+++ b/posix-configs/SITL/init/rcS_gazebo_tailsitter
@@ -18,8 +18,8 @@ param set CAL_ACC0_YSCALE 1.01
 param set CAL_ACC0_ZSCALE 1.01
 param set CAL_ACC1_XOFF 0.01
 param set CAL_MAG0_XOFF 0.01
-param set MC_ROLLRATE_P 0.3
-param set MC_PITCHRATE_P 0.3
+param set MC_ROLLRATE_P 0.25
+param set MC_PITCHRATE_P 0.25
 param set MC_PITCH_P 5.5
 param set MC_ROLL_P 5.5
 param set MC_ROLLRATE_I 0.1
diff --git a/posix-configs/SITL/init/rcS_gazebo_typhoon_h480 b/posix-configs/SITL/init/rcS_gazebo_typhoon_h480
index 33ca3f67b7e..3688dae818f 100644
--- a/posix-configs/SITL/init/rcS_gazebo_typhoon_h480
+++ b/posix-configs/SITL/init/rcS_gazebo_typhoon_h480
@@ -27,13 +27,12 @@ param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 10.0
 param set RTL_LAND_DELAY 0
 param set MIS_TAKEOFF_ALT 2.5
-param set MC_ROLLRATE_P 0.3
-param set MC_PITCHRATE_P 0.3
-param set MC_PITCH_P 7
-param set MC_ROLL_P 7
+param set MC_ROLLRATE_P 0.25
+param set MC_PITCHRATE_P 0.25
+param set MC_PITCH_P 5.5
+param set MC_ROLL_P 5.5
 param set MC_ROLLRATE_I 0.1
 param set MC_PITCHRATE_I 0.1
-param set MC_YAWRATE_P 0.08
 param set MPC_HOLD_MAX_Z 2.0
 param set MPC_HOLD_XY_DZ 0.1
 param set MPC_Z_VEL_P 0.8