diff --git a/ROMFS/px4fmu_common/init.d-posix/1060_rover b/ROMFS/px4fmu_common/init.d-posix/1060_rover
index aecd1c3b4a..60fe3a0764 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1060_rover
+++ b/ROMFS/px4fmu_common/init.d-posix/1060_rover
@@ -9,8 +9,8 @@ if [ $AUTOCNF = yes ]
 then
 	param set GND_L1_DIST 5
 	param set GND_SP_CTRL_MODE 1
-	param set GND_SPEED_D 3
-	param set GND_SPEED_I 0.001
+	param set GND_SPEED_D 0.001
+	param set GND_SPEED_I 3
 	param set GND_SPEED_IMAX 0.125
 	param set GND_SPEED_P 0.25
 	param set GND_SPEED_THR_SC 1
diff --git a/ROMFS/px4fmu_common/init.d-posix/1070_boat b/ROMFS/px4fmu_common/init.d-posix/1070_boat
index 88bc8667ec..6c474ab53b 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1070_boat
+++ b/ROMFS/px4fmu_common/init.d-posix/1070_boat
@@ -9,8 +9,8 @@ if [ $AUTOCNF = yes ]
 then
 	param set GND_L1_DIST 5
 	param set GND_SP_CTRL_MODE 1
-	param set GND_SPEED_D 3
-	param set GND_SPEED_I 0.001
+	param set GND_SPEED_D 0.001
+	param set GND_SPEED_I 3
 	param set GND_SPEED_IMAX 0.125
 	param set GND_SPEED_P 0.25
 	param set GND_SPEED_THR_SC 1
diff --git a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
index dc1aa00eef..1f87157466 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
+++ b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
@@ -34,8 +34,8 @@ then
 	param set GND_L1_DIST 10
 	param set GND_SP_CTRL_MODE 1
 	param set GND_SPEED_P 0.25
-	param set GND_SPEED_I 0.001
-	param set GND_SPEED_D 3
+	param set GND_SPEED_I 3
+	param set GND_SPEED_D 0.001
 	param set GND_SPEED_IMAX 0.125
 	param set GND_SPEED_THR_SC 1
 	param set GND_THR_IDLE 0
diff --git a/ROMFS/px4fmu_common/init.d/airframes/50002_traxxas_stampede_2wd b/ROMFS/px4fmu_common/init.d/airframes/50002_traxxas_stampede_2wd
index 55f1f0b0be..b4b553c897 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/50002_traxxas_stampede_2wd
+++ b/ROMFS/px4fmu_common/init.d/airframes/50002_traxxas_stampede_2wd
@@ -44,8 +44,8 @@ then
 	param set GND_THR_MAX 0.5
 	param set GND_THR_MIN 0
 	param set GND_SPEED_P 0.25
-	param set GND_SPEED_I 0.001
-	param set GND_SPEED_D 3
+	param set GND_SPEED_I 3
+	param set GND_SPEED_D 0.001
 	param set GND_SPEED_IMAX 0.125
 	param set GND_SPEED_THR_SC 1
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover b/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover
index f05aa9f778..246ec1325d 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover
+++ b/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover
@@ -50,8 +50,8 @@ then
 	# to support negative throttle.
 	param set GND_THR_MIN 0.0
 	param set GND_SPEED_P 0.25
-	param set GND_SPEED_I 0.001
-	param set GND_SPEED_D 3
+	param set GND_SPEED_I 3
+	param set GND_SPEED_D 0.001
 	param set GND_SPEED_IMAX 0.125
 	param set GND_SPEED_THR_SC 1
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/50004_dfrobot_gpx_asurada b/ROMFS/px4fmu_common/init.d/airframes/50004_dfrobot_gpx_asurada
index 62343e16d7..ae16f7dfb9 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/50004_dfrobot_gpx_asurada
+++ b/ROMFS/px4fmu_common/init.d/airframes/50004_dfrobot_gpx_asurada
@@ -47,8 +47,8 @@ then
 	# to support negative throttle.
 	param set GND_THR_MIN 0.0
 	param set GND_SPEED_P 0.25
-	param set GND_SPEED_I 0.001
-	param set GND_SPEED_D 3
+	param set GND_SPEED_I 3
+	param set GND_SPEED_D 0.001
 	param set GND_SPEED_IMAX 0.125
 	param set GND_SPEED_THR_SC 1