diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol
index 4e25647e01..9ad99c1d83 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol
@@ -47,6 +47,8 @@ param set-default PWM_MAIN_FUNC6 201
 param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 
+param set-default FW_AIRSPD_MAX 25
+param set-default FW_THR_ASPD_MAX 0.4
 param set-default NPFG_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
@@ -62,19 +64,18 @@ param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
 
 param set-default MC_AIRMODE 1
+param set-default MC_ROLL_P 4
 param set-default MC_ROLLRATE_P 0.3
 param set-default MC_YAW_P 1.6
+param set-default MC_YAWRATE_P 0.3
+
 
 param set-default MIS_TAKEOFF_ALT 10
 
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
-
 param set-default NAV_ACC_RAD 5
 
 param set-default VT_FWD_THRUST_EN 4
+param set-default VT_FWD_THRUST_SC 1
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_TYPE 2