diff --git a/posix-configs/SITL/init/rcS_gazebo_typhoon_h480 b/posix-configs/SITL/init/rcS_gazebo_typhoon_h480
index 3c400197211..33ca3f67b7e 100644
--- a/posix-configs/SITL/init/rcS_gazebo_typhoon_h480
+++ b/posix-configs/SITL/init/rcS_gazebo_typhoon_h480
@@ -29,10 +29,11 @@ param set RTL_LAND_DELAY 0
 param set MIS_TAKEOFF_ALT 2.5
 param set MC_ROLLRATE_P 0.3
 param set MC_PITCHRATE_P 0.3
-param set MC_PITCH_P 5.5
-param set MC_ROLL_P 5.5
+param set MC_PITCH_P 7
+param set MC_ROLL_P 7
 param set MC_ROLLRATE_I 0.1
 param set MC_PITCHRATE_I 0.1
+param set MC_YAWRATE_P 0.08
 param set MPC_HOLD_MAX_Z 2.0
 param set MPC_HOLD_XY_DZ 0.1
 param set MPC_Z_VEL_P 0.8