diff --git a/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt b/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt
index 28e374786f..fe6a68aaa6 100644
--- a/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt
+++ b/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt
@@ -18,14 +18,16 @@ sh /etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF = yes ]
 then
-	param set MC_PITCHRATE_P 0.2
-	param set MC_ROLLRATE_P 0.2
-	param set MC_YAWRATE_P 0.1
+	param set MC_PITCHRATE_P 0.1
+	param set MC_ROLLRATE_P 0.1
+	param set MC_YAWRATE_P 0.08
 	param set MPC_Z_VEL_I 0.15
 	param set MPC_Z_VEL_P 0.3
 
 	param set RTL_DESCEND_ALT 5.0
 	param set RTL_LAND_DELAY 5
+
+	param set SDLOG_PROFILE 179
 fi
 
 set MAV_TYPE 13