diff --git a/conf/airframes/mmlaas_N1.xml b/conf/airframes/mmlaas_N1.xml
index 90986d31e5..effd341ad9 100644
--- a/conf/airframes/mmlaas_N1.xml
+++ b/conf/airframes/mmlaas_N1.xml
@@ -149,8 +149,8 @@
 
   <section name="FORMATION" prefix="FORM_">
     <define name="CARROT" value="3." unit="s"/> <!-- carrot distance for followers -->
-    <define name="POS_PGAIN" value="0.03"/> <!-- coef on position error -->
-    <define name="SPEED_PGAIN" value="0.1"/> <!-- coef on speed error -->
+    <define name="POS_PGAIN" value="0.02"/> <!-- coef on position error -->
+    <define name="SPEED_PGAIN" value="0.4"/> <!-- coef on speed error -->
     <define name="COURSE_PGAIN" value="0.8"/> <!-- coef on course error (override course pgain for followers) -->
     <define name="ALTITUDE_PGAIN" value="0.1"/> <!-- coef on altitude error -->
     <define name="PROX" value="60." unit="m"/> <!-- proximity distance -->
diff --git a/conf/airframes/mmlaas_N2.xml b/conf/airframes/mmlaas_N2.xml
index fe5334a10c..6e891509e1 100644
--- a/conf/airframes/mmlaas_N2.xml
+++ b/conf/airframes/mmlaas_N2.xml
@@ -150,8 +150,8 @@
 
   <section name="FORMATION" prefix="FORM_">
     <define name="CARROT" value="3." unit="s"/> <!-- carrot distance for followers -->
-    <define name="POS_PGAIN" value="0.03"/> <!-- coef on position error -->
-    <define name="SPEED_PGAIN" value="0.1"/> <!-- coef on speed error -->
+    <define name="POS_PGAIN" value="0.02"/> <!-- coef on position error -->
+    <define name="SPEED_PGAIN" value="0.4"/> <!-- coef on speed error -->
     <define name="COURSE_PGAIN" value="0.8"/> <!-- coef on course error (override course pgain for followers) -->
     <define name="ALTITUDE_PGAIN" value="0.1"/> <!-- coef on altitude error -->
     <define name="PROX" value="60." unit="m"/> <!-- proximity distance -->
diff --git a/conf/airframes/mmlaas_N3.xml b/conf/airframes/mmlaas_N3.xml
index 8e1989ca2b..ce7672e252 100644
--- a/conf/airframes/mmlaas_N3.xml
+++ b/conf/airframes/mmlaas_N3.xml
@@ -150,8 +150,8 @@
 
   <section name="FORMATION" prefix="FORM_">
     <define name="CARROT" value="3." unit="s"/> <!-- carrot distance for followers -->
-    <define name="POS_PGAIN" value="0.03"/> <!-- coef on position error -->
-    <define name="SPEED_PGAIN" value="0.1"/> <!-- coef on speed error -->
+    <define name="POS_PGAIN" value="0.02"/> <!-- coef on position error -->
+    <define name="SPEED_PGAIN" value="0.4"/> <!-- coef on speed error -->
     <define name="COURSE_PGAIN" value="0.8"/> <!-- coef on course error (override course pgain for followers) -->
     <define name="ALTITUDE_PGAIN" value="0.1"/> <!-- coef on altitude error -->
     <define name="PROX" value="60." unit="m"/> <!-- proximity distance -->