diff --git a/ROMFS/px4fmu_common/init.d/13008_QuadRanger b/ROMFS/px4fmu_common/init.d/13008_QuadRanger
index eb34ae5c9d..f627fe4d2d 100644
--- a/ROMFS/px4fmu_common/init.d/13008_QuadRanger
+++ b/ROMFS/px4fmu_common/init.d/13008_QuadRanger
@@ -36,9 +36,20 @@ then
 	param set MC_YAWRATE_FF 0.0
 
 	param set MPC_ACC_HOR_MAX 2.0
+	param set MPC_Z_VEL_MAX 1.5
+	param set MPC_TKO_SPEED 1.5
+	param set MPC_LAND_SPEED 0.8
+
+	param set FW_THR_CRUISE 65.0
+	param set FW_PR_P 0.08
+	param set FW_PR_FF 0.5
+	param set FW_RR_P 0.05
+	param set FW_RR_FF 0.6
+
+	param set MIS_YAW_TMT 10
 
 	param set VT_ARSP_TRANS 15.0
-	param set VT_ARSP_BLEND 10.0
+	param set VT_ARSP_BLEND 8.0
 	param set VT_B_TRANS_DUR 4.0
 fi