diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
index 0de4a44fac..3befbc2868 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
@@ -14,6 +14,9 @@ then
 	param set FW_AIRSPD_TRIM 16
 	param set FW_L1_PERIOD 12
 
+	param set FW_RR_FF 0.1
+	param set FW_RR_P 0.01
+
 	param set MC_ROLLRATE_P 0.3
 
 	param set MIS_LTRMIN_ALT 10
@@ -22,7 +25,7 @@ then
 
 	param set MPC_ACC_HOR_MAX 2
 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_THR_MIN 0.1
+	param set MPC_THR_HOVER 0.58
 	param set MPC_TKO_SPEED 1
 	param set MPC_XY_P 0.8
 	param set MPC_XY_VEL_P_ACC 3