diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index e026f1baeb..b8d1c3c5d4 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -176,7 +176,6 @@ private:
 	// process noise
 	control::BlockParamFloat _gyro_bias_p_noise;
 	control::BlockParamFloat _accel_bias_p_noise;
-	control::BlockParamFloat _gyro_scale_p_noise;
 	control::BlockParamFloat _mage_p_noise;
 	control::BlockParamFloat _magb_p_noise;
 	control::BlockParamFloat _wind_vel_p_noise;
@@ -275,7 +274,6 @@ Ekf2::Ekf2():
 	_accel_noise(this, "EKF2_ACC_NOISE", false, &_params->accel_noise),
 	_gyro_bias_p_noise(this, "EKF2_GYR_B_NOISE", false, &_params->gyro_bias_p_noise),
 	_accel_bias_p_noise(this, "EKF2_ACC_B_NOISE", false, &_params->accel_bias_p_noise),
-	_gyro_scale_p_noise(this, "EKF2_GYR_S_NOISE", false, &_params->gyro_scale_p_noise),
 	_mage_p_noise(this, "EKF2_MAG_E_NOISE", false, &_params->mage_p_noise),
 	_magb_p_noise(this, "EKF2_MAG_B_NOISE", false, &_params->magb_p_noise),
 	_wind_vel_p_noise(this, "EKF2_WIND_NOISE", false, &_params->wind_vel_p_noise),
diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c
index 98c96ba20d..aaa0785f88 100644
--- a/src/modules/ekf2/ekf2_params.c
+++ b/src/modules/ekf2/ekf2_params.c
@@ -211,7 +211,7 @@ PARAM_DEFINE_FLOAT(EKF2_REQ_VDRIFT, 0.5f);
  * @unit rad/s
  * @decimal 4
  */
-PARAM_DEFINE_FLOAT(EKF2_GYR_NOISE, 6.0e-2f);
+PARAM_DEFINE_FLOAT(EKF2_GYR_NOISE, 1.5e-2f);
 
 /**
  * Accelerometer noise for covariance prediction.
@@ -222,39 +222,29 @@ PARAM_DEFINE_FLOAT(EKF2_GYR_NOISE, 6.0e-2f);
  * @unit m/s/s
  * @decimal 2
  */
-PARAM_DEFINE_FLOAT(EKF2_ACC_NOISE, 0.25f);
+PARAM_DEFINE_FLOAT(EKF2_ACC_NOISE, 3.5e-1f);
 
 /**
- * Process noise for delta angle bias prediction.
- *
- * @group EKF2
- * @min 0.0
- * @max 0.0001
- * @unit rad/s
- * @decimal 8
- */
-PARAM_DEFINE_FLOAT(EKF2_GYR_B_NOISE, 2.5e-6f);
-
-/**
- * Process noise for delta velocity z bias prediction.
- *
- * @group EKF2
- * @min 0.0
- * @max 0.01
- * @unit m/s/s
- * @decimal 7
- */
-PARAM_DEFINE_FLOAT(EKF2_ACC_B_NOISE, 3.0e-5f);
-
-/**
- * Process noise for delta angle scale factor prediction.
+ * Process noise for IMU rate gyro bias prediction.
  *
  * @group EKF2
  * @min 0.0
  * @max 0.01
+ * @unit rad/s**2
  * @decimal 6
  */
-PARAM_DEFINE_FLOAT(EKF2_GYR_S_NOISE, 3.0e-4f);
+PARAM_DEFINE_FLOAT(EKF2_GYR_B_NOISE, 1.0e-3f);
+
+/**
+ * Process noise for IMU accelerometer bias prediction.
+ *
+ * @group EKF2
+ * @min 0.0
+ * @max 0.01
+ * @unit m/s**3
+ * @decimal 6
+ */
+PARAM_DEFINE_FLOAT(EKF2_ACC_B_NOISE, 3.0e-3f);
 
 /**
  * Process noise for body magnetic field prediction.
@@ -265,7 +255,7 @@ PARAM_DEFINE_FLOAT(EKF2_GYR_S_NOISE, 3.0e-4f);
  * @unit Gauss/s
  * @decimal 6
  */
-PARAM_DEFINE_FLOAT(EKF2_MAG_B_NOISE, 5.0e-4f);
+PARAM_DEFINE_FLOAT(EKF2_MAG_B_NOISE, 1.0e-4f);
 
 /**
  * Process noise for earth magnetic field prediction.
@@ -276,7 +266,7 @@ PARAM_DEFINE_FLOAT(EKF2_MAG_B_NOISE, 5.0e-4f);
  * @unit Gauss/s
  * @decimal 6
  */
-PARAM_DEFINE_FLOAT(EKF2_MAG_E_NOISE, 2.5e-3f);
+PARAM_DEFINE_FLOAT(EKF2_MAG_E_NOISE, 1.0e-3f);
 
 /**
  * Process noise for wind velocity prediction.
@@ -331,7 +321,7 @@ PARAM_DEFINE_FLOAT(EKF2_NOAID_NOISE, 10.0f);
  * @unit m
  * @decimal 2
  */
-PARAM_DEFINE_FLOAT(EKF2_BARO_NOISE, 3.0f);
+PARAM_DEFINE_FLOAT(EKF2_BARO_NOISE, 2.0f);
 
 /**
  * Measurement noise for magnetic heading fusion.
@@ -419,8 +409,7 @@ PARAM_DEFINE_INT32(EKF2_DECL_TYPE, 7);
  * @value 0 Automatic
  * @value 1 Magnetic heading
  * @value 2 3-axis fusion
- * @value 3 2-D projection
- * @value 4 None
+ * @value 3 None
  */
 PARAM_DEFINE_INT32(EKF2_MAG_TYPE, 0);
 
@@ -466,15 +455,16 @@ PARAM_DEFINE_FLOAT(EKF2_GPS_V_GATE, 5.0f);
 PARAM_DEFINE_INT32(EKF2_REC_RPL, 0);
 
 /**
- * Integer bitmask controlling which external aiding sources will be used.
+ * Integer bitmask controlling data fusion and aiding methods.
  *
  * Set bits in the following positions to enable:
  * 0 : Set to true to use GPS data if available
  * 1 : Set to true to use optical flow data if available
+ * 2 : Set to true to inhibit IMU bias estimation
  *
  * @group EKF2
  * @min 0
- * @max 3
+ * @max 15
  */
 PARAM_DEFINE_INT32(EKF2_AID_MASK, 1);