diff --git a/boards/diatone/mamba-f405-mk2/init/rc.board_defaults b/boards/diatone/mamba-f405-mk2/init/rc.board_defaults
index 97bbcd6ee6..61c5953c41 100644
--- a/boards/diatone/mamba-f405-mk2/init/rc.board_defaults
+++ b/boards/diatone/mamba-f405-mk2/init/rc.board_defaults
@@ -11,8 +11,7 @@ param set-default CBRK_IO_SAFETY 22027
 
 # use the Q attitude estimator, it works w/o mag or GPS.
 param set-default SYS_MC_EST_GROUP 3
-param set-default ATT_ACC_COMP 0
-param set-default ATT_W_ACC 0.4000
-param set-default ATT_W_GYRO_BIAS 0.0000
+param set-default ATT_W_ACC 0.4
+param set-default ATT_W_GYRO_BIAS 0
 
 param set-default SYS_HAS_MAG 0
diff --git a/boards/flywoo/gn-f405/init/rc.board_defaults b/boards/flywoo/gn-f405/init/rc.board_defaults
index d5ae67dc8d..c1fc72c526 100644
--- a/boards/flywoo/gn-f405/init/rc.board_defaults
+++ b/boards/flywoo/gn-f405/init/rc.board_defaults
@@ -17,9 +17,8 @@ param set-default SYS_MC_EST_GROUP 2
 param set-default EKF2_MAG_TYPE 5
 param set-default SENS_BOARD_ROT 6
 
-param set-default ATT_ACC_COMP 0
-param set-default ATT_W_ACC 0.4000
-param set-default ATT_W_GYRO_BIAS 0.0000
+param set-default ATT_W_ACC 0.4
+param set-default ATT_W_GYRO_BIAS 0
 
 param set-default SYS_HAS_MAG 0
 
diff --git a/boards/holybro/kakutef7/init/rc.board_defaults b/boards/holybro/kakutef7/init/rc.board_defaults
index 2968cb67ca..01fd668a3d 100644
--- a/boards/holybro/kakutef7/init/rc.board_defaults
+++ b/boards/holybro/kakutef7/init/rc.board_defaults
@@ -14,9 +14,8 @@ param set-default SYS_AUTOSTART 4050
 
 # use the Q attitude estimator, it works w/o mag or GPS.
 param set-default SYS_MC_EST_GROUP 3
-param set-default ATT_ACC_COMP 0
-param set-default ATT_W_ACC 0.4000
-param set-default ATT_W_GYRO_BIAS 0.0000
+param set-default ATT_W_ACC 0.4
+param set-default ATT_W_GYRO_BIAS 0
 
 param set-default SYS_HAS_MAG 0
 
diff --git a/boards/holybro/kakuteh7/init/rc.board_defaults b/boards/holybro/kakuteh7/init/rc.board_defaults
index fa014c6b48..413b2e6ff6 100644
--- a/boards/holybro/kakuteh7/init/rc.board_defaults
+++ b/boards/holybro/kakuteh7/init/rc.board_defaults
@@ -24,9 +24,8 @@ param set-default SYS_AUTOSTART 4050
 
 # use the Q attitude estimator, it works w/o mag or GPS.
 param set-default SYS_MC_EST_GROUP 3
-param set-default ATT_ACC_COMP 0
-param set-default ATT_W_ACC 0.4000
-param set-default ATT_W_GYRO_BIAS 0.0000
+param set-default ATT_W_ACC 0.4
+param set-default ATT_W_GYRO_BIAS 0
 
 param set-default SYS_HAS_MAG 0
 
diff --git a/boards/omnibus/f4sd/init/rc.board_defaults b/boards/omnibus/f4sd/init/rc.board_defaults
index 5b492c4359..9e6affd345 100644
--- a/boards/omnibus/f4sd/init/rc.board_defaults
+++ b/boards/omnibus/f4sd/init/rc.board_defaults
@@ -14,8 +14,7 @@ param set-default CBRK_IO_SAFETY 22027
 
 # use the Q attitude estimator, it works w/o mag or GPS.
 param set-default SYS_MC_EST_GROUP 3
-param set-default ATT_ACC_COMP 0
-param set-default ATT_W_ACC 0.4000
-param set-default ATT_W_GYRO_BIAS 0.0000
+param set-default ATT_W_ACC 0.4
+param set-default ATT_W_GYRO_BIAS 0
 
 param set-default SYS_HAS_MAG 0
diff --git a/boards/raspberrypi/pico/init/rc.board_defaults b/boards/raspberrypi/pico/init/rc.board_defaults
index ec0c720608..f1a26f4a51 100644
--- a/boards/raspberrypi/pico/init/rc.board_defaults
+++ b/boards/raspberrypi/pico/init/rc.board_defaults
@@ -12,10 +12,3 @@ param set-default CBRK_SUPPLY_CHK 894281
 # Disable safety switch by default
 param set-default CBRK_IO_SAFETY 22027
 
-# use the Q attitude estimator, it works w/o mag or GPS.
-# param set-default SYS_MC_EST_GROUP 3
-# param set-default ATT_ACC_COMP 0
-# param set-default ATT_W_ACC 0.4000
-# param set-default ATT_W_GYRO_BIAS 0.0000
-
-# param set-default SYS_HAS_MAG 0
diff --git a/boards/spracing/h7extreme/init/rc.board_defaults b/boards/spracing/h7extreme/init/rc.board_defaults
index 34177ec437..d2b9948883 100644
--- a/boards/spracing/h7extreme/init/rc.board_defaults
+++ b/boards/spracing/h7extreme/init/rc.board_defaults
@@ -14,8 +14,7 @@ param set-default SYS_AUTOSTART 4050
 
 # use the Q attitude estimator, it works w/o mag or GPS.
 param set-default SYS_MC_EST_GROUP 3
-param set-default ATT_ACC_COMP 0
-param set-default ATT_W_ACC 0.4000
-param set-default ATT_W_GYRO_BIAS 0.0000
+param set-default ATT_W_ACC 0.4
+param set-default ATT_W_GYRO_BIAS 0
 
 param set-default SYS_HAS_MAG 0
diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_params.c b/src/modules/attitude_estimator_q/attitude_estimator_q_params.c
index 0cea30cda2..90a9342bb5 100644
--- a/src/modules/attitude_estimator_q/attitude_estimator_q_params.c
+++ b/src/modules/attitude_estimator_q/attitude_estimator_q_params.c
@@ -122,7 +122,7 @@ PARAM_DEFINE_INT32(ATT_EXT_HDG_M, 0);
  * @group Attitude Q estimator
  * @boolean
  */
-PARAM_DEFINE_INT32(ATT_ACC_COMP, 1);
+PARAM_DEFINE_INT32(ATT_ACC_COMP, 0);
 
 /**
  * Gyro bias limit