diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover
index 2d36aed7ce..aa64c0eccd 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover
@@ -37,8 +37,8 @@ param set-default RO_YAW_P 5
 
 # Rover Position Control Parameters
 param set-default RO_SPEED_LIM 2
-param set-default RO_SPEED_I 0.5
-param set-default RO_SPEED_P 1
+param set-default RO_SPEED_I 0.01
+param set-default RO_SPEED_P 0.1
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1
diff --git a/ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover b/ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover
index 45b35ffeaa..27b09bf9ef 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover
+++ b/ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover
@@ -37,14 +37,14 @@ param set-default RO_JERK_LIM 5
 param set-default RO_MAX_THR_SPEED 1.9
 
 # Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.01
+param set-default RO_YAW_RATE_I 0.1
 param set-default RO_YAW_RATE_P 0.1
 param set-default RO_YAW_RATE_LIM 250
 param set-default RO_YAW_ACCEL_LIM 600
 param set-default RO_YAW_DECEL_LIM 600
 
 # Rover Attitude Control Parameters
-param set-default RO_YAW_P 5
+param set-default RO_YAW_P 2.5
 
 # Rover Position Control Parameters
 param set-default RO_SPEED_LIM 1.6