diff --git a/posix-configs/SITL/init/rcS_gazebo_standard_vtol b/posix-configs/SITL/init/rcS_gazebo_standard_vtol
index 454071fc4db..3473324e712 100644
--- a/posix-configs/SITL/init/rcS_gazebo_standard_vtol
+++ b/posix-configs/SITL/init/rcS_gazebo_standard_vtol
@@ -19,18 +19,16 @@ param set CAL_ACC0_YSCALE 1.01
 param set CAL_ACC0_ZSCALE 1.01
 param set CAL_ACC1_XOFF 0.01
 param set CAL_MAG0_XOFF 0.01
-param set MC_ROLLRATE_P 0.25
-param set MC_PITCHRATE_P 0.25
-param set MC_PITCH_P 5.5
-param set MC_ROLL_P 5.5
-param set MC_ROLLRATE_I 0.1
-param set MC_PITCHRATE_I 0.1
+param set MC_ROLLRATE_P 0.2
+param set MC_PITCHRATE_P 0.2
+param set MC_PITCH_P 6
+param set MC_ROLL_P 6
 param set MPC_XY_P 0.15
 param set MPC_XY_VEL_P 0.05
 param set MPC_XY_VEL_D 0.005
 param set MPC_XY_FF 0.1
 param set MPC_Z_VEL_MAX 1.5
-param set MPC_Z_VEL_P 0.8
+param set MPC_Z_VEL_P 0.6
 param set MPC_Z_VEL_I 0.15
 param set SENS_BOARD_ROT 8
 param set SENS_DPRES_OFF 0.001