diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision b/ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision
index 8969f19802..2b67f387f2 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision
@@ -52,12 +52,8 @@ param set-default MAV_1_MODE 9
 # param set-default SER_TEL1_BAUD 921600	Not found
 
 # Vehicle attitude PID tuning
-param set-default MC_ACRO_EXPO 0
-param set-default MC_ACRO_EXPO_Y 0
 param set-default MC_ACRO_P_MAX 200
 param set-default MC_ACRO_R_MAX 200
-param set-default MC_ACRO_SUPEXPO 0
-param set-default MC_ACRO_SUPEXPOY 0
 param set-default MC_ACRO_Y_MAX 150
 param set-default MC_PITCHRATE_D 0.0015
 param set-default MC_ROLLRATE_D 0.0015
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
index d6fd77945b..d56fcfb939 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
+++ b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
@@ -45,12 +45,8 @@ param set-default MAV_1_MODE 9
 param set-default SER_TEL1_BAUD 921600
 
 # Vehicle attitude PID tuning
-param set-default MC_ACRO_EXPO 0
-param set-default MC_ACRO_EXPO_Y 0
 param set-default MC_ACRO_P_MAX 200
 param set-default MC_ACRO_R_MAX 200
-param set-default MC_ACRO_SUPEXPO 0
-param set-default MC_ACRO_SUPEXPOY 0
 param set-default MC_ACRO_Y_MAX 150
 param set-default MC_PITCHRATE_D 0.0015
 param set-default MC_ROLLRATE_D 0.0015
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5 b/ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5
index b2019b7bad..3d094d231a 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5
+++ b/ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5
@@ -45,12 +45,8 @@ param set-default MAV_1_MODE 9
 param set-default SER_TEL1_BAUD 921600
 
 # Vehicle attitude PID tuning
-param set-default MC_ACRO_EXPO 0
-param set-default MC_ACRO_EXPO_Y 0
 param set-default MC_ACRO_P_MAX 200
 param set-default MC_ACRO_R_MAX 200
-param set-default MC_ACRO_SUPEXPO 0
-param set-default MC_ACRO_SUPEXPOY 0
 param set-default MC_ACRO_Y_MAX 150
 param set-default MC_PITCHRATE_D 0.0015
 param set-default MC_ROLLRATE_D 0.0015