diff --git a/posix-configs/SITL/init/rcS_gazebo_standard_vtol b/posix-configs/SITL/init/rcS_gazebo_standard_vtol
index 908ab2209a..6e7861b896 100644
--- a/posix-configs/SITL/init/rcS_gazebo_standard_vtol
+++ b/posix-configs/SITL/init/rcS_gazebo_standard_vtol
@@ -18,10 +18,10 @@ param set CAL_ACC0_YSCALE 1.01
 param set CAL_ACC0_ZSCALE 1.01
 param set CAL_ACC1_XOFF 0.01
 param set CAL_MAG0_XOFF 0.01
-param set MC_ROLLRATE_P 0.25
-param set MC_PITCHRATE_P 0.25
-param set MC_PITCH_P 5
-param set MC_ROLL_P 5
+param set MC_ROLLRATE_P 0.3
+param set MC_PITCHRATE_P 0.3
+param set MC_PITCH_P 5.5
+param set MC_ROLL_P 5.5
 param set MC_ROLLRATE_I 0.1
 param set MC_PITCHRATE_I 0.1
 param set MPC_XY_P 0.15