diff --git a/ROMFS/px4fmu_common/init.d/4012_quad_x_can b/ROMFS/px4fmu_common/init.d/4012_quad_x_can
index 05b4355138..c6341a4f74 100644
--- a/ROMFS/px4fmu_common/init.d/4012_quad_x_can
+++ b/ROMFS/px4fmu_common/init.d/4012_quad_x_can
@@ -9,18 +9,17 @@ sh /etc/init.d/4001_quad_x
 
 if [ $AUTOCNF == yes ]
 then
-	# TODO REVIEW
 	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.1
+	param set MC_ROLLRATE_P 0.16
 	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_D 0.01
 	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_P 0.16
 	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_D 0.01
 	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_P 0.3
+	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
 fi