diff --git a/ROMFS/px4fmu_common/init.d/10020_3dr_quad b/ROMFS/px4fmu_common/init.d/10020_3dr_quad
index 0dbffba00f..896d9bd9c7 100644
--- a/ROMFS/px4fmu_common/init.d/10020_3dr_quad
+++ b/ROMFS/px4fmu_common/init.d/10020_3dr_quad
@@ -1,10 +1,10 @@
 #!nsh
 #
-# @name 3DR Iris Quadrotor
+# @name 3DR Iris DIY Quad
 #
-# @type Quadrotor Wide
+# @type Quadrotor x
 #
-# @maintainer Anton Babushkin <anton@px4.io>
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults
@@ -12,21 +12,15 @@ sh /etc/init.d/rc.mc_defaults
 if [ $AUTOCNF == yes ]
 then
 	# TODO tune roll/pitch separately
-	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.13
-	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLL_P 6.5
+	param set MC_ROLLRATE_P 0.08
+	param set MC_ROLLRATE_I 0.1
 	param set MC_ROLLRATE_D 0.004
-	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.13
-	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCH_P 6.0
+	param set MC_PITCHRATE_P 0.16
+	param set MC_PITCHRATE_I 0.09
 	param set MC_PITCHRATE_D 0.004
-	param set MC_YAW_P 2.5
-	param set MC_YAWRATE_P 0.25
-	param set MC_YAWRATE_I 0.25
-	param set MC_YAWRATE_D 0.0
-
-	param set BAT_V_SCALING 0.00989
-	param set BAT_C_SCALING 0.0124
+	param set MC_YAW_P 4
 fi
 
 set MIXER quad_x