diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
index 5740e863ca..56c74a3b52 100644
--- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
+++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
@@ -12,11 +12,11 @@ then
 	#
 	param set MC_ATT_P 5.0
 	param set MC_ATT_I 0.0
+	param set MC_YAW_P 0.5
+	param set MC_YAW_I 0.15
 	param set MC_ATTRATE_P 0.17
 	param set MC_ATTRATE_I 0.0
 	param set MC_ATTRATE_D 0.006
-	param set MC_YAWPOS_P 0.5
-	param set MC_YAWPOS_I 0.15
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.0
 	param set MC_YAWRATE_D 0.0
diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
index 62a7942999..a3bcb63eb8 100644
--- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
@@ -12,11 +12,11 @@ then
 	#
 	param set MC_ATT_P 9.0
 	param set MC_ATT_I 0.0
+	param set MC_YAW_P 0.5
+	param set MC_YAW_I 0.15
 	param set MC_ATTRATE_P 0.13
 	param set MC_ATTRATE_I 0.0
 	param set MC_ATTRATE_D 0.004
-	param set MC_YAWPOS_P 0.5
-	param set MC_YAWPOS_I 0.15
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.0
 	param set MC_YAWRATE_D 0.0
diff --git a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
index 9e098093e6..2d497374a5 100644
--- a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
+++ b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
@@ -10,13 +10,13 @@ then
 	#
 	# Default parameters for this platform
 	#
+	param set MC_ATT_P 7.0
+	param set MC_ATT_I 0.0
+	param set MC_YAW_P 2.0
+	param set MC_YAW_I 0.0
 	param set MC_ATTRATE_P 0.12
 	param set MC_ATTRATE_I 0.0
 	param set MC_ATTRATE_D 0.004
-	param set MC_ATT_P 7.0
-	param set MC_ATT_I 0.0
-	param set MC_YAWPOS_P 2.0
-	param set MC_YAWPOS_I 0.0
 	param set MC_YAWRATE_P 0.3
 	param set MC_YAWRATE_I 0.2
 	param set MC_YAWRATE_D 0.005
diff --git a/ROMFS/px4fmu_common/init.d/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/4010_dji_f330
index 5ce86f593f..e0cf92d97f 100644
--- a/ROMFS/px4fmu_common/init.d/4010_dji_f330
+++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330
@@ -12,11 +12,11 @@ then
 	#
 	param set MC_ATT_P 7.0
 	param set MC_ATT_I 0.0
+	param set MC_YAW_P 2.8
+	param set MC_YAW_I 0.0
 	param set MC_ATTRATE_P 0.12
 	param set MC_ATTRATE_I 0.0
 	param set MC_ATTRATE_D 0.004
-	param set MC_YAWPOS_P 2.8
-	param set MC_YAWPOS_I 0.0
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.05
 	param set MC_YAWRATE_D 0.0
diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450
index 1ff5c796a5..ced69783db 100644
--- a/ROMFS/px4fmu_common/init.d/4011_dji_f450
+++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450
@@ -12,11 +12,11 @@ then
 	#
 	param set MC_ATT_P 7.0
 	param set MC_ATT_I 0.0
+	param set MC_YAW_P 2.0
+	param set MC_YAW_I 0.0
 	param set MC_ATTRATE_P 0.12
 	param set MC_ATTRATE_I 0.0
 	param set MC_ATTRATE_D 0.004
-	param set MC_YAWPOS_P 2.0
-	param set MC_YAWPOS_I 0.0
 	param set MC_YAWRATE_P 0.3
 	param set MC_YAWRATE_I 0.2
 	param set MC_YAWRATE_D 0.005
diff --git a/ROMFS/px4fmu_common/init.d/4012_hk_x550 b/ROMFS/px4fmu_common/init.d/4012_hk_x550
index 673043c149..e1423e0082 100644
--- a/ROMFS/px4fmu_common/init.d/4012_hk_x550
+++ b/ROMFS/px4fmu_common/init.d/4012_hk_x550
@@ -12,11 +12,11 @@ then
 	#
 	param set MC_ATT_P 5.5
 	param set MC_ATT_I 0
+	param set MC_YAW_P 0.6
+	param set MC_YAW_I 0
 	param set MC_ATTRATE_P 0.14
 	param set MC_ATTRATE_I 0
 	param set MC_ATTRATE_D 0.006
-	param set MC_YAWPOS_P 0.6
-	param set MC_YAWPOS_I 0
 	param set MC_YAWRATE_P 0.08
 	param set MC_YAWRATE_I 0
 	param set MC_YAWRATE_D 0