diff --git a/ROMFS/px4fmu_common/init.d/4002_qavr5 b/ROMFS/px4fmu_common/init.d/4002_qavr5
index 142982bf4b..5f1ca5904d 100644
--- a/ROMFS/px4fmu_common/init.d/4002_qavr5
+++ b/ROMFS/px4fmu_common/init.d/4002_qavr5
@@ -17,17 +17,19 @@ if [ $AUTOCNF == yes ]
 then
 	param set MC_ROLL_P 8.0
 	param set MC_ROLLRATE_P 0.08
-	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_I 0.16
 	param set MC_ROLLRATE_D 0.003
 	param set MC_PITCH_P 8.0
 	param set MC_PITCHRATE_P 0.1
-	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_I 0.2
 	param set MC_PITCHRATE_D 0.003
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.15
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAW_FF 0.5
+	param set MC_TPA_BREAK 0.7
+	param set MC_TPA_SLOPE 1.0
 	param set PWM_MIN 1075
 	param set MPC_THR_MIN 0.06
 	param set MPC_MANTHR_MIN 0.06