diff --git a/ROMFS/px4fmu_common/init.d/4051_s250aq b/ROMFS/px4fmu_common/init.d/4051_s250aq
index 72841bee35..f5ab088611 100644
--- a/ROMFS/px4fmu_common/init.d/4051_s250aq
+++ b/ROMFS/px4fmu_common/init.d/4051_s250aq
@@ -42,8 +42,12 @@ then
 	param set MC_YAWRATE_MAX 400.0
 	param set MC_ACRO_R_MAX 360.0
 	param set MC_ACRO_P_MAX 360.0
-	param set MC_TPA_BREAK_P 0.5
-	param set MC_TPA_RATE_P 0.5
+	param set MC_TPA_BREAK_D 0.3
+	param set MC_TPA_BREAK_I 1.0
+	param set MC_TPA_BREAK_P 0.3
+	param set MC_TPA_RATE_D 1.0
+	param set MC_TPA_RATE_I 0.0
+	param set MC_TPA_RATE_P 1.0
 
 
 	param set PWM_MIN 1075