diff --git a/posix-configs/SITL/init/rcS_gazebo_iris b/posix-configs/SITL/init/rcS_gazebo_iris
index e4d8c958a9e..72d205447d8 100644
--- a/posix-configs/SITL/init/rcS_gazebo_iris
+++ b/posix-configs/SITL/init/rcS_gazebo_iris
@@ -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 0.5
-param set MC_PITCHRATE_P 0.5
-param set MC_PITCH_P 5
-param set MC_ROLL_P 5
+param set MC_ROLLRATE_P 0.3
+param set MC_PITCHRATE_P 0.3
+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_typhoon_h480 b/posix-configs/SITL/init/rcS_gazebo_typhoon_h480
index 6a47ce7ff5f..3c400197211 100644
--- a/posix-configs/SITL/init/rcS_gazebo_typhoon_h480
+++ b/posix-configs/SITL/init/rcS_gazebo_typhoon_h480
@@ -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 0.25
-param set MC_PITCHRATE_P 0.25
-param set MC_PITCH_P 5
-param set MC_ROLL_P 5
+param set MC_ROLLRATE_P 0.3
+param set MC_PITCHRATE_P 0.3
+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