diff --git a/ROMFS/px4fmu_common/init.d/15001_coax_heli b/ROMFS/px4fmu_common/init.d/15001_coax_heli
index fd10afffed..c5db274129 100644
--- a/ROMFS/px4fmu_common/init.d/15001_coax_heli
+++ b/ROMFS/px4fmu_common/init.d/15001_coax_heli
@@ -17,11 +17,6 @@ set MIXER coax
 
 if [ $AUTOCNF == yes ]
 then
-	param set PE_VELNE_NOISE 0.5
-	param set PE_VELD_NOISE 0.35
-	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 1.25
-
 	param set NAV_ACC_RAD 2.0
 	param set RTL_RETURN_ALT 30.0
 	param set RTL_DESCEND_ALT 10.0
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
index a7206200c2..766a7ef4a2 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@@ -17,11 +17,6 @@ then
 	
 	param set MIS_LTRMIN_ALT 25
 	param set MIS_TAKEOFF_ALT 25
-
-	param set PE_VELNE_NOISE 0.3
-	param set PE_VELD_NOISE 0.35
-	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 1.0
 fi
 
 # This is the gimbal pass mixer
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
index 9375965641..780347c72a 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
@@ -4,11 +4,6 @@ set VEHICLE_TYPE mc
 
 if [ $AUTOCNF == yes ]
 then
-	param set PE_VELNE_NOISE 0.5
-	param set PE_VELD_NOISE 0.35
-	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 1.25
-
 	param set NAV_ACC_RAD 2.0
 	param set RTL_RETURN_ALT 30.0
 	param set RTL_DESCEND_ALT 10.0
diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
index ba89646591..c8f677a377 100644
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
@@ -8,12 +8,6 @@ then
 	param set MC_PITCH_P 6.0
 	param set MC_YAW_P 4
 
-	param set PE_VELNE_NOISE 0.5
-	param set PE_VELD_NOISE 0.3
-	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 1.25
-	param set PE_ABIAS_PNOISE 0.0001
-
 	#
 	# Default parameters for mission and position handling
 	#
diff --git a/ROMFS/tap_common/init.d/rc.fw_defaults b/ROMFS/tap_common/init.d/rc.fw_defaults
index f876353263..2c2da70168 100644
--- a/ROMFS/tap_common/init.d/rc.fw_defaults
+++ b/ROMFS/tap_common/init.d/rc.fw_defaults
@@ -12,11 +12,6 @@ then
 	param set RTL_LAND_DELAY -1
 
 	param set NAV_ACC_RAD 50
-
-	param set PE_VELNE_NOISE 0.3
-	param set PE_VELD_NOISE 0.35
-	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 1.0
 fi
 
 # This is the gimbal pass mixer
diff --git a/ROMFS/tap_common/init.d/rc.mc_defaults b/ROMFS/tap_common/init.d/rc.mc_defaults
index ebe7d8bed8..c5f178bb86 100644
--- a/ROMFS/tap_common/init.d/rc.mc_defaults
+++ b/ROMFS/tap_common/init.d/rc.mc_defaults
@@ -4,11 +4,6 @@ set VEHICLE_TYPE mc
 
 if [ $AUTOCNF == yes ]
 then
-	param set PE_VELNE_NOISE 0.5
-	param set PE_VELD_NOISE 0.35
-	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 1.25
-
 	param set PWM_DISARMED 900
 	param set PWM_MIN 1075
 	param set PWM_MAX 1950
diff --git a/ROMFS/tap_common/init.d/rc.vtol_defaults b/ROMFS/tap_common/init.d/rc.vtol_defaults
index d8dab16cf0..ec0e262a4c 100644
--- a/ROMFS/tap_common/init.d/rc.vtol_defaults
+++ b/ROMFS/tap_common/init.d/rc.vtol_defaults
@@ -8,12 +8,6 @@ then
 	param set MC_PITCH_P 6.0
 	param set MC_YAW_P 4
 
-	param set PE_VELNE_NOISE 0.5
-	param set PE_VELD_NOISE 0.3
-	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 1.25
-	param set PE_ABIAS_PNOISE 0.0001
-
 	#
 	# Default parameters for mission and position handling
 	#
diff --git a/posix-configs/eagle/200qx/px4.config b/posix-configs/eagle/200qx/px4.config
index 5bbd3c0703..b0ddcab459 100644
--- a/posix-configs/eagle/200qx/px4.config
+++ b/posix-configs/eagle/200qx/px4.config
@@ -48,7 +48,6 @@ param set RC6_MIN 1099
 param set RC6_TRIM 1099
 param set RC6_REV 1
 param set ATT_W_MAG 0.00
-param set PE_MAG_NOISE 1.0f
 param set SENS_BOARD_ROT 0
 param set RC_RECEIVER_TYPE 1
 param set UART_ESC_MODEL 2
diff --git a/posix-configs/eagle/210qc/px4.config b/posix-configs/eagle/210qc/px4.config
index 945be5e8de..0118b7afc3 100644
--- a/posix-configs/eagle/210qc/px4.config
+++ b/posix-configs/eagle/210qc/px4.config
@@ -48,7 +48,6 @@ param set RC6_MIN 1099
 param set RC6_TRIM 1099
 param set RC6_REV 1
 param set ATT_W_MAG 0.00
-param set PE_MAG_NOISE 1.0f
 param set SENS_BOARD_ROT 0
 param set CAL_GYRO0_XOFF -0.0028
 param set CAL_GYRO0_YOFF -0.0047