diff --git a/ROMFS/px4fmu_common/init.d/4050_generic_250 b/ROMFS/px4fmu_common/init.d/4050_generic_250
index b806ed5446..520d4d1020 100644
--- a/ROMFS/px4fmu_common/init.d/4050_generic_250
+++ b/ROMFS/px4fmu_common/init.d/4050_generic_250
@@ -15,24 +15,31 @@ sh /etc/init.d/4001_quad_x
 
 if [ $AUTOCNF == yes ]
 then
-	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.1
+	param set MC_ROLL_P 8.0
+	param set MC_ROLLRATE_P 0.19
 	param set MC_ROLLRATE_I 0.1
-	param set MC_ROLLRATE_D 0.005
-	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.1
-	param set MC_PITCHRATE_I 0.2
-	param set MC_PITCHRATE_D 0.005
-	param set MC_YAW_P 2.8
+	param set MC_ROLLRATE_D 0.0055
+	param set MC_PITCH_P 8.0
+	param set MC_PITCHRATE_P 0.24
+	param set MC_PITCHRATE_I 0.1
+	param set MC_PITCHRATE_D 0.0065
+	param set MC_YAW_P 4.0
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.5
+	param set MC_ROLLRATE_MAX 720.0
+	param set MC_PITCHRATE_MAX 720.0
+	param set MC_YAWRATE_MAX 400.0
+	param set MC_ACRO_R_MAX 360.0
+	param set MC_ACRO_P_MAX 360.0
+
 	param set PWM_MIN 1075
+
 	param set MPC_THR_MIN 0.06
 	param set MPC_MANTHR_MIN 0.06
-	param set MC_ROLLRATE_MAX 1000.0
-	param set MC_PITCHRATE_MAX 1000.0
-	param set MC_YAWRATE_MAX 400.0
+
 	param set ATT_BIAS_MAX 0.0
+
 	param set CBRK_IO_SAFETY 22027
 fi