diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
index f4580b2522..9576c898e6 100644
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
@@ -4,20 +4,17 @@ set VEHICLE_TYPE vtol
 
 if [ $AUTOCNF == yes ]
 then
-	param set MC_ROLL_P 6.0
-	param set MC_PITCH_P 6.0
-	param set MC_YAW_P 4
-
-	#
-	# Default parameters for mission and position handling
-	#
-	param set NAV_ACC_RAD 3
-	param set MPC_TKO_SPEED 1.0
-	param set MPC_LAND_SPEED 0.7
-	param set MPC_Z_VEL_MAX_DN 1.5
-	param set MPC_XY_VEL_MAX 4.0
+	param set MIS_TAKEOFF_ALT 20
 	param set MIS_YAW_TMT 10
+
 	param set MPC_ACC_HOR_MAX 2.0
+	param set MPC_LAND_SPEED 0.7
+	param set MPC_TKO_SPEED 1.0
+	param set MPC_XY_VEL_MAX 4.0
+	param set MPC_Z_VEL_MAX_DN 1.5
+
+	param set NAV_ACC_RAD 3
+
 	param set RTL_LAND_DELAY 0
 fi