diff --git a/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2 b/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
index a7ed903ab5..caabe57143 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
+++ b/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
@@ -28,7 +28,7 @@ sh /etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF = yes ]
 then
-	param set BAT_CAPACITY 2500.0
+	param set BAT_CAPACITY 2500
 	param set BAT_N_CELLS 3
 
 	param set PWM_AUX_RATE 50
@@ -41,13 +41,13 @@ then
 	param set FW_AIRSPD_TRIM 13
 	param set FW_THR_CRUISE 0.8
 
-	param set FW_MAN_P_MAX 25.0
-	param set FW_MAN_R_MAX 25.0
+	param set FW_MAN_P_MAX 25
+	param set FW_MAN_R_MAX 25
 	param set FW_PR_I 0.02
 	param set FW_R_LIM 40
-	param set FW_P_LIM_MAX 25.0
-	param set FW_P_LIM_MIN -5.0
-	param set FW_P_RMAX_NEG 20.0
+	param set FW_P_LIM_MAX 25
+	param set FW_P_LIM_MIN -5
+	param set FW_P_RMAX_NEG 20
 fi
 
 set MIXER TF-AutoG2
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
index c044067d46..3a179cb7c9 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
+++ b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
@@ -79,7 +79,7 @@ then
 	param set MC_YAWRATE_P 0.3
 
 	# Position Control Tuning
-	param set CP_DIST 6.0
+	param set CP_DIST 6
 	param set MPC_ACC_DOWN_MAX 5
 	param set MPC_ACC_HOR_MAX 10
 	param set MPC_ACC_UP_MAX 4
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
index 832a88b97b..e8739be315 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
+++ b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
@@ -33,15 +33,15 @@ then
 	param set IMU_DGYRO_CUTOFF 60
 
 	param set MC_AIRMODE 2
-	param set MC_PITCHRATE_D 0.0010
+	param set MC_PITCHRATE_D 0.001
 	param set MC_PITCHRATE_I 0.5
 	param set MC_PITCHRATE_MAX 600
-	param set MC_PITCHRATE_P 0.0750
+	param set MC_PITCHRATE_P 0.075
 	param set MC_PITCH_P 6
-	param set MC_ROLLRATE_D 0.0010
+	param set MC_ROLLRATE_D 0.001
 	param set MC_ROLLRATE_I 0.4
 	param set MC_ROLLRATE_MAX 600
-	param set MC_ROLLRATE_P 0.0750
+	param set MC_ROLLRATE_P 0.075
 	param set MC_YAWRATE_I 0.3
 	param set MC_YAWRATE_MAX 400
 	param set MC_YAWRATE_P 0.12
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4070_aerofc b/ROMFS/px4fmu_common/init.d/airframes/4070_aerofc
index 8eccf9f12d..7ca8a0dfb9 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4070_aerofc
+++ b/ROMFS/px4fmu_common/init.d/airframes/4070_aerofc
@@ -24,44 +24,44 @@ sh /etc/init.d/rc.mc_defaults
 if [ $AUTOCNF = yes ]
 then
 	# Set all params here, then disable autoconfig
-	param set EKF2_GPS_POS_X -0.0600
-	param set EKF2_GPS_POS_Z -0.1000
+	param set EKF2_GPS_POS_X -0.06
+	param set EKF2_GPS_POS_Z -0.1
 	param set EKF2_MIN_OBS_DT 50
 
 	param set EKF2_BARO_GATE 10
 	param set EKF2_BARO_NOISE 5
 	param set EKF2_ACC_NOISE 0.7
 
-	param set LNDMC_Z_VEL_MAX 2.0000
+	param set LNDMC_Z_VEL_MAX 2
 
-	param set MC_ROLL_P 8.0000
-	param set MC_ROLLRATE_P 0.1300
+	param set MC_ROLL_P 8
+	param set MC_ROLLRATE_P 0.13
 	param set MC_ROLLRATE_I 0.07
 	param set MC_ROLLRATE_D 0.0012
 	param set MC_ROLLRATE_MAX 360
-	param set MC_PITCH_P 8.0000
-	param set MC_PITCHRATE_P 0.1300
+	param set MC_PITCH_P 8
+	param set MC_PITCHRATE_P 0.13
 	param set MC_PITCHRATE_I 0.07
 	param set MC_PITCHRATE_D 0.0012
 	param set MC_PITCHRATE_MAX 360
 	param set MC_YAW_P 4
-	param set MC_YAWRATE_P 0.119999997317790985
-	param set MC_YAWRATE_I 0.050000000745058060
+	param set MC_YAWRATE_P 0.12
+	param set MC_YAWRATE_I 0.05
 	param set MC_YAWRATE_D 0
 
-	param set MPC_LAND_SPEED 0.7000
-	param set MPC_MANTHR_MIN 0.0400
-	param set MPC_THR_HOVER 0.5000
-	param set MPC_THR_MAX 0.9400
-	param set MPC_THR_MIN 0.1000
-	param set MPC_XY_CRUISE 8.0000
-	param set MPC_XY_P 1.5000
+	param set MPC_LAND_SPEED 0.7
+	param set MPC_MANTHR_MIN 0.04
+	param set MPC_THR_HOVER 0.5
+	param set MPC_THR_MAX 0.94
+	param set MPC_THR_MIN 0.1
+	param set MPC_XY_CRUISE 8
+	param set MPC_XY_P 1.5
 	param set MPC_XY_VEL_P_ACC 3
-	param set MPC_Z_P 1.5000
+	param set MPC_Z_P 1.5
 	param set MPC_Z_VEL_P_ACC 16
 	param set MPC_Z_VEL_I_ACC 3
-	param set MPC_Z_VEL_MAX_DN 4.0000
-	param set MPC_Z_VEL_MAX_UP 5.0000
+	param set MPC_Z_VEL_MAX_DN 4
+	param set MPC_Z_VEL_MAX_UP 5
 
 	# TELEM2 config
 	param set MAV_1_CONFIG 102
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo
index 4848a476c1..ed9560625e 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo
+++ b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo
@@ -28,41 +28,41 @@ set PWM_OUT 1234
 if [ $AUTOCNF = yes ]
 then
 	# Attitude & rate gains
-	#param set MC_ROLL_P 7.00000
-	param set MC_ROLLRATE_P 0.15000
-	#param set MC_ROLLRATE_I 0.90000
-	param set MC_ROLLRATE_D 0.00130
+	#param set MC_ROLL_P 7
+	param set MC_ROLLRATE_P 0.15
+	#param set MC_ROLLRATE_I 0.9
+	param set MC_ROLLRATE_D 0.0013
 
-	#param set MC_PITCH_P 7.00000
-	param set MC_PITCHRATE_P 0.15000
-	#param set MC_PITCHRATE_I 1.10000
-	param set MC_PITCHRATE_D 0.00160
+	#param set MC_PITCH_P 7
+	param set MC_PITCHRATE_P 0.15
+	#param set MC_PITCHRATE_I 1.1
+	param set MC_PITCHRATE_D 0.0016
 
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.2
 	#param set MC_YAWRATE_I 0.15
-	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_D 0
 	param set MC_YAW_FF 0.5
 
 	#param set MC_ROLL_TC 0.19
 	#param set MC_PITCH_TC 0.16
 
 	# Manual mode settings: Unleash Draco R's power :)
-	#param set MPC_MAN_TILT_MAX 70.00000
-	#param set MC_PITCHRATE_MAX 1600.00000
-	#param set MC_ROLLRATE_MAX 1600.00000
-	#param set MC_YAWRATE_MAX 700.00000
-	param set MPC_MANTHR_MAX 0.90000
-	param set MPC_MANTHR_MIN 0.08000
-	#param set MPC_MAN_TILT_MAX 35.0000
-	#param set MPC_TILTMAX_AIR 20.0000
+	#param set MPC_MAN_TILT_MAX 70
+	#param set MC_PITCHRATE_MAX 1600
+	#param set MC_ROLLRATE_MAX 1600
+	#param set MC_YAWRATE_MAX 700
+	param set MPC_MANTHR_MAX 0.9
+	param set MPC_MANTHR_MIN 0.08
+	#param set MPC_MAN_TILT_MAX 35
+	#param set MPC_TILTMAX_AIR 20
 
 	# Disable RC filtering
-	param set RC_FLT_CUTOFF 0.00000
+	param set RC_FLT_CUTOFF 0
 
 	# Filter settings
-	param set IMU_DGYRO_CUTOFF 90.00000
-	param set IMU_GYRO_CUTOFF 100.00000
+	param set IMU_DGYRO_CUTOFF 90
+	param set IMU_GYRO_CUTOFF 100
 
 	# Thrust curve (avoids the need for TPA)
 	#param set THR_MDL_FAC 0.25
@@ -76,37 +76,37 @@ then
 	param set SENS_BOARD_ROT 10
 
 	# EKF2
-	param set EKF2_GND_EFF_DZ 6.0
+	param set EKF2_GND_EFF_DZ 6
 	param set EKF2_HGT_MODE 1
 
 	# Position control
-	param set MPC_Z_P 1.00000
+	param set MPC_Z_P 1
 	param set MPC_Z_VEL_P_ACC 4
 	param set MPC_Z_VEL_I_ACC 0.4
 
-	param set MPC_THR_MIN 0.06000
-	param set MPC_THR_HOVER 0.3000
+	param set MPC_THR_MIN 0.06
+	param set MPC_THR_HOVER 0.3
 
-	param set MIS_TAKEOFF_ALT 1.1000
-	param set MPC_XY_P 1.7000
+	param set MIS_TAKEOFF_ALT 1.1
+	param set MPC_XY_P 1.7
 	param set MPC_XY_VEL_P_ACC 2.6
 	param set MPC_XY_VEL_I_ACC 1.2
 	param set MPC_XY_VEL_D_ACC 0.2
-	param set MPC_TKO_RAMP_T 1.0000
-	param set MPC_TKO_SPEED 1.1000
-	param set MPC_VEL_MANUAL 3.0000
+	param set MPC_TKO_RAMP_T 1
+	param set MPC_TKO_SPEED 1.1
+	param set MPC_VEL_MANUAL 3
 
 	param set BAT_SOURCE 0
 	param set BAT_N_CELLS 4
 	param set BAT_V_DIV 10.14
 	param set BAT_A_PER_V 18.18
 	#param set CBRK_IO_SAFETY 22027
-	param set COM_ARM_EKF_AB 0.00500
+	param set COM_ARM_EKF_AB 0.005
 	param set COM_DISARM_LAND 2
 
 	# Filter settings
-	param set IMU_GYRO_CUTOFF 90.00000
-	param set IMU_DGYRO_CUTOFF 70.00000
+	param set IMU_GYRO_CUTOFF 90
+	param set IMU_DGYRO_CUTOFF 70
 
 	# Don't try to be intelligent on RC loss: just cut the motors
 	param set NAV_RCL_ACT 6
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4072_draco b/ROMFS/px4fmu_common/init.d/airframes/4072_draco
index ffcb078372..2cf8f04c7d 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4072_draco
+++ b/ROMFS/px4fmu_common/init.d/airframes/4072_draco
@@ -31,8 +31,8 @@ then
 	# use the Q attitude estimator, it works w/o mag or GPS.
 	param set SYS_MC_EST_GROUP 3
 	param set ATT_ACC_COMP 0
-	param set ATT_W_ACC 0.4000
-	param set ATT_W_GYRO_BIAS 0.0000
+	param set ATT_W_ACC 0.4
+	param set ATT_W_GYRO_BIAS 0
 	param set SYS_HAS_MAG 0
 
 	# Attitude & rate gains
@@ -40,31 +40,31 @@ then
 	param set MC_ROLLRATE_P 0.11
 	param set MC_ROLLRATE_I 0.3
 	param set MC_ROLLRATE_D 0.0015
-	param set MC_ROLLRATE_MAX 1600.0
+	param set MC_ROLLRATE_MAX 1600
 
-	param set MC_PITCH_P 8.0
+	param set MC_PITCH_P 8
 	param set MC_PITCHRATE_P 0.13
 	param set MC_PITCHRATE_I 0.35
 	param set MC_PITCHRATE_D 0.0015
-	param set MC_PITCHRATE_MAX 1600.0
+	param set MC_PITCHRATE_MAX 1600
 
-	param set MC_YAW_P 4.0
+	param set MC_YAW_P 4
 	param set MC_YAWRATE_P 0.21
 	param set MC_YAWRATE_I 0.3
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAW_FF 0.5
-	param set MC_YAWRATE_MAX 600.0
+	param set MC_YAWRATE_MAX 600
 
 	param set MC_ROLL_TC 0.19
 	param set MC_PITCH_TC 0.16
 	param set MC_AIRMODE 1
 
-	param set MPC_MAN_TILT_MAX 60.0
+	param set MPC_MAN_TILT_MAX 60
 	param set MPC_THR_CURVE 1
 	param set MPC_THR_HOVER 0.25
 
 	# Disable RC filtering
-	param set RC_FLT_CUTOFF 0.00000
+	param set RC_FLT_CUTOFF 0
 
 	# Thrust curve (avoids the need for TPA)
 	param set THR_MDL_FAC 0.3
@@ -80,12 +80,12 @@ then
 
 	param set BAT_SOURCE 0
 	param set CBRK_IO_SAFETY 22027
-	#param set COM_ARM_EKF_AB 0.00500
+	#param set COM_ARM_EKF_AB 0.005
 	#param set COM_DISARM_LAND 3
 
 	# Filter settings
-	param set IMU_GYRO_CUTOFF 90.00000
-	param set IMU_DGYRO_CUTOFF 100.00000
+	param set IMU_GYRO_CUTOFF 90
+	param set IMU_DGYRO_CUTOFF 100
 
 	# Don't try to be intelligent on RC loss: just cut the motors
 	#param set NAV_RCL_ACT 6
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
index b78714244e..69f471e50b 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
+++ b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
@@ -27,38 +27,38 @@ set PWM_OUT 1234
 if [ $AUTOCNF = yes ]
 then
 	# Attitude & rate gains
-	#param set MC_ROLL_P 7.00000
-	param set MC_ROLLRATE_P 0.15000
-	#param set MC_ROLLRATE_I 0.90000
-	param set MC_ROLLRATE_D 0.00130
+	#param set MC_ROLL_P 7
+	param set MC_ROLLRATE_P 0.15
+	#param set MC_ROLLRATE_I 0.9
+	param set MC_ROLLRATE_D 0.0013
 
-	#param set MC_PITCH_P 7.00000
-	param set MC_PITCHRATE_P 0.15000
-	#param set MC_PITCHRATE_I 1.10000
-	param set MC_PITCHRATE_D 0.00160
+	#param set MC_PITCH_P 7
+	param set MC_PITCHRATE_P 0.15
+	#param set MC_PITCHRATE_I 1.1
+	param set MC_PITCHRATE_D 0.0016
 
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.2
 	#param set MC_YAWRATE_I 0.15
-	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_D 0
 
 	#param set MC_ROLL_TC 0.19
 	#param set MC_PITCH_TC 0.16
 
 	# Manual mode settings: Unleash Draco R's power :)
-	#param set MPC_MAN_TILT_MAX 70.00000
-	#param set MC_PITCHRATE_MAX 1600.00000
-	#param set MC_ROLLRATE_MAX 1600.00000
-	#param set MC_YAWRATE_MAX 700.00000
-	param set MPC_MANTHR_MIN 0.08000
-	#param set MPC_MAN_TILT_MAX 35.0000
-	#param set MPC_TILTMAX_AIR 20.0000
+	#param set MPC_MAN_TILT_MAX 70
+	#param set MC_PITCHRATE_MAX 1600
+	#param set MC_ROLLRATE_MAX 1600
+	#param set MC_YAWRATE_MAX 700
+	param set MPC_MANTHR_MIN 0.08
+	#param set MPC_MAN_TILT_MAX 35
+	#param set MPC_TILTMAX_AIR 20
 
 	# Disable RC filtering
-	param set RC_FLT_CUTOFF 0.00000
+	param set RC_FLT_CUTOFF 0
 
 	# Filter settings
-	param set IMU_GYRO_CUTOFF 100.00000
+	param set IMU_GYRO_CUTOFF 100
 
 	# Thrust curve (avoids the need for TPA)
 	#param set THR_MDL_FAC 0.25
@@ -80,7 +80,7 @@ then
 
 	# EKF2
 	param set EKF2_AID_MASK 3
-	param set EKF2_GND_EFF_DZ 6.0
+	param set EKF2_GND_EFF_DZ 6
 	param set EKF2_HGT_MODE 1
 	param set EKF2_MIN_RNG 0.3
 	param set EKF2_RNG_AID 1
@@ -89,32 +89,32 @@ then
 	param set EKF2_OF_QMIN 70
 
 	# Position control
-	param set MPC_Z_P 1.10000
+	param set MPC_Z_P 1.1
 	param set MPC_Z_VEL_P_ACC 6
 	param set MPC_Z_VEL_I_ACC 1
 
-	param set MPC_THR_MIN 0.06000
-	param set MPC_THR_HOVER 0.4400
+	param set MPC_THR_MIN 0.06
+	param set MPC_THR_HOVER 0.44
 
-	param set MIS_TAKEOFF_ALT 1.1000
-	param set MPC_XY_P 1.7000
+	param set MIS_TAKEOFF_ALT 1.1
+	param set MPC_XY_P 1.7
 	param set MPC_XY_VEL_P_ACC 2.6
 	param set MPC_XY_VEL_I_ACC 1.2
 	param set MPC_XY_VEL_D_ACC 0.2
-	param set MPC_TKO_RAMP_T 1.0000
-	param set MPC_TKO_SPEED 1.1000
-	param set MPC_VEL_MANUAL 3.0000
+	param set MPC_TKO_RAMP_T 1
+	param set MPC_TKO_SPEED 1.1
+	param set MPC_VEL_MANUAL 3
 
 	param set BAT_SOURCE 0
 	param set BAT_N_CELLS 4
 	param set BAT_V_DIV 10.14
 	param set BAT_A_PER_V 18.18
 	#param set CBRK_IO_SAFETY 22027
-	param set COM_ARM_EKF_AB 0.00500
+	param set COM_ARM_EKF_AB 0.005
 	param set COM_DISARM_LAND 2
 
 	# Filter settings
-	param set IMU_GYRO_CUTOFF 90.00000
+	param set IMU_GYRO_CUTOFF 90
 
 	# Don't try to be intelligent on RC loss: just cut the motors
 	param set NAV_RCL_ACT 6
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 246ec1325d..88dec85025 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
@@ -34,8 +34,8 @@ then
 	param set FW_AIRSPD_MAX 3
 
 	param set GND_SP_CTRL_MODE 1
-	param set GND_L1_DIST 5.0
-	param set GND_L1_PERIOD 3.0
+	param set GND_L1_DIST 5
+	param set GND_L1_PERIOD 3
 	param set GND_THR_IDLE 0
 	param set GND_THR_CRUISE 0.7
 	param set GND_THR_MAX 0.5
@@ -48,7 +48,7 @@ then
 
 	# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
 	# to support negative throttle.
-	param set GND_THR_MIN 0.0
+	param set GND_THR_MIN 0
 	param set GND_SPEED_P 0.25
 	param set GND_SPEED_I 3
 	param set GND_SPEED_D 0.001
diff --git a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
index 9c066d8c7e..632f185b8a 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
+++ b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
@@ -36,33 +36,33 @@ then
 	# Attitude & rate gains
 	###############################################
 	# Roll
-	param set MC_ROLL_P 6.50000
-	param set MC_ROLLRATE_P 0.15000
-	param set MC_ROLLRATE_I 0.05000
-	param set MC_ROLLRATE_D 0.00130
-	param set MC_ROLLRATE_MAX 800.00000
+	param set MC_ROLL_P 6.5
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_D 0.0013
+	param set MC_ROLLRATE_MAX 800
 	# Pitch
-	param set MC_PITCH_P 6.50000
-	param set MC_PITCHRATE_P 0.15000
-	param set MC_PITCHRATE_I 0.05000
-	param set MC_PITCHRATE_D 0.00160
-	param set MC_PITCHRATE_MAX 800.00000
+	param set MC_PITCH_P 6.5
+	param set MC_PITCHRATE_P 0.15
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_D 0.0016
+	param set MC_PITCHRATE_MAX 800
 	# Yaw
-	param set MC_YAW_P 2.80000
-	param set MC_YAWRATE_P 0.20000
-	param set MC_YAWRATE_I 0.10000
-	param set MC_YAWRATE_D 0.00000
-	param set MC_YAW_FF 0.00000
-	param set MC_YAWRATE_MAX 700.00000
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0
+	param set MC_YAW_FF 0
+	param set MC_YAWRATE_MAX 700
 
 	###############################################
 	# Multirotor Position Gains
 	###############################################
-	param set MPC_ACC_HOR 8.0000
-	param set MPC_THR_MIN 0.06000
-	param set MPC_THR_HOVER 0.3000
+	param set MPC_ACC_HOR 8
+	param set MPC_THR_MIN 0.06
+	param set MPC_THR_HOVER 0.3
 	# altitude control gains
-	param set MPC_Z_P 1.00000
+	param set MPC_Z_P 1
 	param set MPC_Z_VEL_P_ACC 4
 	param set MPC_Z_VEL_I_ACC 0.4
 	# position control gains
@@ -71,16 +71,16 @@ then
 	param set MPC_XY_VEL_I_ACC 0.4
 	param set MPC_XY_VEL_D_ACC 0.2
 	# etc gains
-	param set MPC_TKO_RAMP_T 0.4000
-	param set MPC_TKO_SPEED 1.5000
-	param set MPC_VEL_MANUAL 5.0000
+	param set MPC_TKO_RAMP_T 0.4
+	param set MPC_TKO_SPEED 1.5
+	param set MPC_VEL_MANUAL 5
 
 	# Disable RC filtering
-	param set RC_FLT_CUTOFF 0.00000
+	param set RC_FLT_CUTOFF 0
 
 	# Filter settings
-	param set IMU_DGYRO_CUTOFF 90.00000
-	param set IMU_GYRO_CUTOFF 100.00000
+	param set IMU_DGYRO_CUTOFF 90
+	param set IMU_GYRO_CUTOFF 100
 
 	# Thrust curve (avoids the need for TPA)
 	param set THR_MDL_FAC 0.25
@@ -94,9 +94,9 @@ then
 	# DSHOT
 	param set DSHOT_CONFIG 600
 
-	param set COM_ARM_MAG 0.2000
+	param set COM_ARM_MAG 0.2
 
-	param set MIS_TAKEOFF_ALT 1.1000
+	param set MIS_TAKEOFF_ALT 1.1
 
 	#####################################
 	# EKF
@@ -107,7 +107,7 @@ then
 	param set EKF2_AID_MASK 1
 	param set EKF2_RNG_AID 1
 	param set EKF2_MAG_TYPE 1
-	param set EKF2_OF_QMIN 80.0000
+	param set EKF2_OF_QMIN 80
 
 	# default horizontal stablization sensors
 	param set SENS_EN_PMW3901 1