diff --git a/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2 b/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2
index 3ddecb26d2..54839a594a 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2
+++ b/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2
@@ -17,6 +17,8 @@ sh /etc/init.d/rc.mc_defaults
 set MIXER quad_x
 set PWM_OUT 1234
 
+set PARAM_DEFAULTS_VER 2
+
 if [ $AUTOCNF = yes ]
 then
 	param set BAT_N_CELLS 4
@@ -24,18 +26,19 @@ then
 	param set GPS_1_CONFIG 0
 	param set RC_PORT_CONFIG 201
 
-	param set IMU_GYRO_CUTOFF 120
-	param set IMU_DGYRO_CUTOFF 0
+	param set IMU_GYRO_CUTOFF 80
+	param set IMU_DGYRO_CUTOFF 50
+	param set IMU_GYRO_RATEMAX 2000
 
-	param set MC_ROLLRATE_P 0.075
+	param set MC_ROLLRATE_P 0.085
 	param set MC_ROLLRATE_I 0.25
-	param set MC_ROLLRATE_D 0.0015
+	param set MC_ROLLRATE_D 0.0008
 	param set MC_ROLLRATE_MAX 1600
 	param set MC_ROLL_P 10
 
-	param set MC_PITCHRATE_P 0.075
+	param set MC_PITCHRATE_P 0.085
 	param set MC_PITCHRATE_I 0.32
-	param set MC_PITCHRATE_D 0.0015
+	param set MC_PITCHRATE_D 0.0008
 	param set MC_PITCHRATE_MAX 1600
 	param set MC_PITCH_P 10