diff --git a/posix-configs/SITL/init/rcS_gazebo_iris b/posix-configs/SITL/init/rcS_gazebo_iris
index 3cf11a5bdd..dd27b3f4c2 100644
--- a/posix-configs/SITL/init/rcS_gazebo_iris
+++ b/posix-configs/SITL/init/rcS_gazebo_iris
@@ -31,6 +31,8 @@ param set MC_ROLLRATE_P 0.25
 param set MC_PITCHRATE_P 0.25
 param set MC_PITCH_P 5
 param set MC_ROLL_P 5
+param set MPC_Z_VEL_P 0.8
+param set MPC_Z_VEL_I 0.15
 simulator start -s
 rgbledsim start
 tone_alarm start
diff --git a/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow b/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow
index ce63e31f72..271a9bc9e4 100644
--- a/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow
+++ b/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow
@@ -31,7 +31,8 @@ param set MC_ROLLRATE_P 0.25
 param set MC_PITCHRATE_P 0.25
 param set MC_PITCH_P 5
 param set MC_ROLL_P 5
-param set MPC_XY_VEL_P 0.05
+param set MPC_Z_VEL_P 0.8
+param set MPC_Z_VEL_I 0.15
 simulator start -s
 rgbledsim start
 tone_alarm start
diff --git a/posix-configs/SITL/init/rcS_gazebo_standard_vtol b/posix-configs/SITL/init/rcS_gazebo_standard_vtol
index ade9d105f8..c9b0296a86 100644
--- a/posix-configs/SITL/init/rcS_gazebo_standard_vtol
+++ b/posix-configs/SITL/init/rcS_gazebo_standard_vtol
@@ -27,6 +27,8 @@ param set MPC_XY_VEL_P 0.05
 param set MPC_XY_VEL_D 0.005
 param set MPC_XY_FF 0.1
 param set MPC_Z_VEL_MAX 1.5
+param set MPC_Z_VEL_P 0.8
+param set MPC_Z_VEL_I 0.15
 param set SENS_BOARD_ROT 8
 param set SENS_DPRES_OFF 0.001
 param set SENS_BOARD_X_OFF 0.000001
diff --git a/posix-configs/SITL/init/rcS_gazebo_tailsitter b/posix-configs/SITL/init/rcS_gazebo_tailsitter
index a686fac957..57367ce3ff 100644
--- a/posix-configs/SITL/init/rcS_gazebo_tailsitter
+++ b/posix-configs/SITL/init/rcS_gazebo_tailsitter
@@ -27,6 +27,8 @@ param set MPC_XY_VEL_P 0.05
 param set MPC_XY_VEL_D 0.005
 param set MPC_XY_FF 0.1
 param set MPC_Z_VEL_MAX 1.0
+param set MPC_Z_VEL_P 0.8
+param set MPC_Z_VEL_I 0.15
 param set SENS_BOARD_ROT 8
 param set SENS_DPRES_OFF 0.001
 param set SENS_BOARD_X_OFF 0.000001