diff --git a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
index d1ad546077..28d56b40ee 100644
--- a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
+++ b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
@@ -20,7 +20,8 @@ then
 	param set FW_AIRSPD_MAX 20
 	param set FW_AIRSPD_MIN 12
 	param set FW_AIRSPD_TRIM 14
-	param set FW_ATT_TC 0.3
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 16
 	param set FW_LND_ANG 15
diff --git a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
index 5e0b6cd746..be58c041a6 100644
--- a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
+++ b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
@@ -14,7 +14,8 @@ then
 	param set FW_AIRSPD_MIN 12
 	param set FW_AIRSPD_TRIM 25
 	param set FW_AIRSPD_MAX 40
-	param set FW_ATT_TC 0.3
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 15
 	param set FW_PR_FF 0.8
diff --git a/ROMFS/px4fmu_common/init.d/3030_io_camflyer b/ROMFS/px4fmu_common/init.d/3030_io_camflyer
index a15d0ac6d0..2a2344ff94 100644
--- a/ROMFS/px4fmu_common/init.d/3030_io_camflyer
+++ b/ROMFS/px4fmu_common/init.d/3030_io_camflyer
@@ -24,7 +24,8 @@ then
 	param set FW_AIRSPD_MAX 15
 	param set FW_AIRSPD_MIN 10
 	param set FW_AIRSPD_TRIM 13
-	param set FW_ATT_TC 0.3
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 16
 	param set FW_LND_ANG 15
diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom
index 84d9a9f39e..b18fe4b687 100644
--- a/ROMFS/px4fmu_common/init.d/3031_phantom
+++ b/ROMFS/px4fmu_common/init.d/3031_phantom
@@ -24,7 +24,8 @@ then
 	param set FW_AIRSPD_MIN 13
 	param set FW_AIRSPD_TRIM 15
 	param set FW_AIRSPD_MAX 25
-	param set FW_ATT_TC 0.3
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
 	param set FW_L1_DAMPING 0.75
 	param set FW_L1_PERIOD 15
 	param set FW_PR_FF 0.2
diff --git a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
index 3dedf8170d..2747411ef1 100644
--- a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
+++ b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
@@ -24,7 +24,8 @@ then
 	param set FW_AIRSPD_MIN 15
 	param set FW_AIRSPD_TRIM 20
 	param set FW_AIRSPD_MAX 40
-	param set FW_ATT_TC 0.3
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 16
 	param set FW_LND_ANG 15
diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing
index 3a0aa28150..49729bec47 100644
--- a/ROMFS/px4fmu_common/init.d/3033_wingwing
+++ b/ROMFS/px4fmu_common/init.d/3033_wingwing
@@ -25,7 +25,8 @@ then
 	param set FW_AIRSPD_MAX 15
 	param set FW_AIRSPD_MIN 10
 	param set FW_AIRSPD_TRIM 13
-	param set FW_ATT_TC 0.3
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 16
 	param set FW_LND_ANG 15
diff --git a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
index 5aa004db1b..780efd9807 100644
--- a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
+++ b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
@@ -14,7 +14,8 @@ then
 	param set FW_AIRSPD_MAX 20
 	param set FW_AIRSPD_MIN 12
 	param set FW_AIRSPD_TRIM 16
-	param set FW_ATT_TC 0.3
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 16
 	param set FW_LND_ANG 15