diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index 81bbaa6587..3f59eb5970 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -235,8 +235,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 
 	float eph_flow = 1.0f;
 
-	float eph_vision = 0.5f;
-	float epv_vision = 0.5f;
+	float eph_vision = 0.2f;
+	float epv_vision = 0.2f;
 
 	float x_est_prev[2], y_est_prev[2], z_est_prev[2];
 	memset(x_est_prev, 0, sizeof(x_est_prev));
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.c b/src/modules/position_estimator_inav/position_estimator_inav_params.c
index cc0fb4155e..b7f6509d73 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_params.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c
@@ -116,7 +116,7 @@ PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f);
  * @max 10.0
  * @group Position Estimator INAV
  */
-PARAM_DEFINE_FLOAT(INAV_W_XY_VIS_P, 5.0f);
+PARAM_DEFINE_FLOAT(INAV_W_XY_VIS_P, 7.0f);
 
 /**
  * XY axis weight for vision velocity