diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
index 156711c26d..b718f421f5 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@@ -17,9 +17,9 @@ then
 	param set FW_T_TIME_CONST 5
 
 	param set PE_VELNE_NOISE 0.3
-	param set PE_VELD_NOISE 0.5
+	param set PE_VELD_NOISE 0.35
 	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 0.5
+	param set PE_POSD_NOISE 1.0
 	param set PE_GBIAS_PNOISE 0.000001
 	param set PE_ABIAS_PNOISE 0.0002
 fi