diff --git a/conf/modules/guidance_indi.xml b/conf/modules/guidance_indi.xml
index 0c9f8dcfae..6030837813 100644
--- a/conf/modules/guidance_indi.xml
+++ b/conf/modules/guidance_indi.xml
@@ -6,6 +6,14 @@
       Guidance controller for rotorcraft using INDI
     </description>
   </doc>
+  <settings>
+    <dl_settings>
+      <dl_settings NAME="guidance_indi">
+        <dl_setting var="guidance_indi_pos_gain" min="0" step="0.1" max="10.0" shortname="kp_p" param="GUIDANCE_INDI_POS_GAIN" persistent="true"/>
+        <dl_setting var="guidance_indi_speed_gain" min="0" step="0.1" max="10.0" shortname="kp_p" param="GUIDANCE_INDI_SPEED_GAIN" persistent="true"/>
+      </dl_settings>
+    </dl_settings>
+  </settings>
   <header>
     <file name="guidance_indi.h"/>
   </header>
diff --git a/conf/modules/stabilization_indi.xml b/conf/modules/stabilization_indi.xml
index 2a85491ca3..9f77aa2659 100644
--- a/conf/modules/stabilization_indi.xml
+++ b/conf/modules/stabilization_indi.xml
@@ -37,13 +37,13 @@
   <settings>
     <dl_settings>
       <dl_settings NAME="indi">
-        <dl_setting var="reference_acceleration.err_p" min="0" step="1" max="2500" shortname="kp_p" param="STABILIZATION_INDI_REF_ERR_P" persistent="true"/>
-        <dl_setting var="reference_acceleration.rate_p" min="0" step="0.1" max="100" shortname="kd_p" param="STABILIZATION_INDI_REF_RATE_P" persistent="true"/>
-        <dl_setting var="reference_acceleration.err_q" min="0" step="1" max="2500" shortname="kp_q" param="STABILIZATION_INDI_REF_ERR_Q" persistent="true"/>
-        <dl_setting var="reference_acceleration.rate_q" min="0" step="0.1" max="100" shortname="kd_q" param="STABILIZATION_INDI_REF_RATE_P" persistent="true"/>
-        <dl_setting var="reference_acceleration.err_r" min="0" step="1" max="2500" shortname="kp_r" param="STABILIZATION_INDI_REF_ERR_R" persistent="true"/>
-        <dl_setting var="reference_acceleration.rate_r" min="0" step="0.1" max="100" shortname="kd_r" param="STABILIZATION_INDI_REF_RATE_P" persistent="true"/>
-        <dl_setting var="indi_use_adaptive" min="0" step="1" max="1" shortname="use_adaptive" values="FALSE|TRUE" param="STABILIZATION_INDI_USE_ADAPTIVE" type="uint8" persistent="true"/>
+        <dl_setting var="reference_acceleration.err_p" min="0" step="1" max="2500" shortname="kp_p" param="STABILIZATION_INDI_REF_ERR_P"/>
+        <dl_setting var="reference_acceleration.rate_p" min="0" step="0.1" max="100" shortname="kd_p" param="STABILIZATION_INDI_REF_RATE_P"/>
+        <dl_setting var="reference_acceleration.err_q" min="0" step="1" max="2500" shortname="kp_q" param="STABILIZATION_INDI_REF_ERR_Q"/>
+        <dl_setting var="reference_acceleration.rate_q" min="0" step="0.1" max="100" shortname="kd_q" param="STABILIZATION_INDI_REF_RATE_P"/>
+        <dl_setting var="reference_acceleration.err_r" min="0" step="1" max="2500" shortname="kp_r" param="STABILIZATION_INDI_REF_ERR_R"/>
+        <dl_setting var="reference_acceleration.rate_r" min="0" step="0.1" max="100" shortname="kd_r" param="STABILIZATION_INDI_REF_RATE_P"/>
+        <dl_setting var="indi_use_adaptive" min="0" step="1" max="1" shortname="use_adaptive" values="FALSE|TRUE" param="STABILIZATION_INDI_USE_ADAPTIVE" type="uint8"/>
       </dl_settings>
     </dl_settings>
   </settings>
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.h
index 50d6ac447b..43a8a1796c 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.h
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.h
@@ -41,4 +41,8 @@ extern void stabilization_attitude_set_setpoint_rp_quat_f(struct FloatEulers* in
 extern float guidance_indi_thrust_specific_force_gain;
 extern struct FloatVect3 euler_cmd;
 
+// settings for guidance INDI
+extern float guidance_indi_pos_gain;
+extern float guidance_indi_speed_gain;
+
 #endif /* GUIDANCE_INDI_H */