diff --git a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
index 2f4949b49a..be3c9afba5 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
+++ b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
@@ -31,7 +31,7 @@ then
 
 	param set MC_AIRMODE 2
 	param set MC_PITCHRATE_D 0.0010
-	param set MC_PITCHRATE_I 0.5
+	param set MC_PITCHRATE_I 0.4
 	param set MC_PITCHRATE_MAX 600
 	param set MC_PITCHRATE_P 0.0750
 	param set MC_PITCH_P 6
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 b/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
index 2b465501fb..324d6f7f79 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
@@ -17,7 +17,7 @@ if [ $AUTOCNF = yes ]
 then
 	param set MC_ROLL_P 8
 	param set MC_ROLLRATE_P 0.08
-	param set MC_ROLLRATE_I 0.25
+	param set MC_ROLLRATE_I 0.2
 	param set MC_ROLLRATE_D 0.001
 	param set MC_PITCH_P 8
 	param set MC_PITCHRATE_P 0.08
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 b/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
index 1043b60c21..d720fb0c74 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
@@ -26,14 +26,14 @@ then
 
 	param set MC_AIRMODE 1
 	param set MC_PITCHRATE_D 0.0012
-	param set MC_PITCHRATE_I 0.45
+	param set MC_PITCHRATE_I 0.25
 	param set MC_PITCHRATE_MAX 1200
-	param set MC_PITCHRATE_P 0.084
+	param set MC_PITCHRATE_P 0.082
 	param set MC_PITCH_P 8
 	param set MC_ROLLRATE_D 0.0012
-	param set MC_ROLLRATE_I 0.45
+	param set MC_ROLLRATE_I 0.2
 	param set MC_ROLLRATE_MAX 1200
-	param set MC_ROLLRATE_P 0.078
+	param set MC_ROLLRATE_P 0.076
 	param set MC_ROLL_P 8
 	param set MC_YAWRATE_I 0.3
 	param set MC_YAWRATE_MAX 600