diff --git a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
index bd99e0e554..36d387c759 100644
--- a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
+++ b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
@@ -9,16 +9,15 @@ sh /etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF == yes ]
 then
-	# TODO tune roll/pitch separately
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.13
 	param set MC_ROLLRATE_I 0.05
 	param set MC_ROLLRATE_D 0.004
 	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.13
+	param set MC_PITCHRATE_P 0.19
 	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.004
-	param set MC_YAW_P 2.8
+	param set MC_YAW_P 4.0
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0