diff --git a/conf/airframes/ardrone2_raw_optitrack.xml b/conf/airframes/ardrone2_raw_optitrack.xml
index 4e68c0b5e4..56254ab3ab 100644
--- a/conf/airframes/ardrone2_raw_optitrack.xml
+++ b/conf/airframes/ardrone2_raw_optitrack.xml
@@ -5,6 +5,7 @@
   <firmware name="rotorcraft">
     <target name="ap" board="ardrone2_raw">
       <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
+      <define name="FAILSAFE_DESCENT_SPEED" value="0.5"/>
       <configure name="USE_MAGNETOMETER" value="0"/>
 
       <subsystem name="telemetry" type="udp"/>
@@ -39,7 +40,7 @@
     <axis name="PITCH" failsafe_value="0"/>
     <axis name="ROLL" failsafe_value="0"/>
     <axis name="YAW" failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="3000"/>
+    <axis name="THRUST" failsafe_value="5760"/>
   </commands>
 
   <servos driver="Default">
@@ -201,17 +202,17 @@
     <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
 
     <!-- reference model -->
-    <define name="REF_OMEGA" value="RadOfDeg(190.)"/>
-    <define name="REF_ZETA" value="0.9"/>
-    <define name="REF_MAX_ACCEL" value="9.5"/>
-    <define name="REF_MAX_SPEED" value="8.5"/>
+    <define name="REF_OMEGA" value="RadOfDeg(67.)"/>
+    <define name="REF_ZETA" value="0.85"/>
+    <define name="REF_MAX_ACCEL" value="5.66"/>
+    <define name="REF_MAX_SPEED" value="3"/>
 
     <!-- gains -->
-    <define name="PGAIN" value="150"/>
+    <define name="PGAIN" value="116"/>
     <define name="DGAIN" value="60"/>
     <define name="IGAIN" value="30"/>
-    <define name="VGAIN" value="70"/>
-    <define name="AGAIN" value="140"/>
+    <define name="VGAIN" value="0"/>
+    <define name="AGAIN" value="62"/>
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">