diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
index a0c59262ad..0e28efd3b5 100644
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
@@ -39,7 +39,14 @@ then
 	param set PE_POSD_NOISE 1.25
 	param set PE_ABIAS_PNOISE 0.0001
 
+	#
+	# 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 1.5
+	param set MPC_XY_VEL_MAX 4.0
 fi
 
 set PWM_DISARMED 900
diff --git a/posix-configs/SITL/init/rcS_gazebo_standard_vtol b/posix-configs/SITL/init/rcS_gazebo_standard_vtol
index c5282f6395..c93af9204f 100644
--- a/posix-configs/SITL/init/rcS_gazebo_standard_vtol
+++ b/posix-configs/SITL/init/rcS_gazebo_standard_vtol
@@ -27,10 +27,11 @@ param set MPC_XY_P 0.15
 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_MAX 1.5
 param set SENS_BOARD_ROT 8
 param set COM_RC_IN_MODE 1
 param set NAV_ACC_RAD 3.0
+param set MPC_TKO_SPEED 1.0
 rgbledsim start
 tone_alarm start
 gyrosim start