diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
index 156711c26d..b718f421f5 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@@ -17,9 +17,9 @@ then
 	param set FW_T_TIME_CONST 5
 
 	param set PE_VELNE_NOISE 0.3
-	param set PE_VELD_NOISE 0.5
+	param set PE_VELD_NOISE 0.35
 	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 0.5
+	param set PE_POSD_NOISE 1.0
 	param set PE_GBIAS_PNOISE 0.000001
 	param set PE_ABIAS_PNOISE 0.0002
 fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
index fa3653e0d5..a5c326ebc6 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
@@ -5,9 +5,9 @@ set VEHICLE_TYPE mc
 if [ $AUTOCNF == yes ]
 then
 	param set PE_VELNE_NOISE 0.5
-	param set PE_VELD_NOISE 0.7
+	param set PE_VELD_NOISE 0.35
 	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 1.0
+	param set PE_POSD_NOISE 1.25
 	param set PE_GBIAS_PNOISE 0.000001
 	param set PE_ABIAS_PNOISE 0.0001
 
diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
index 844d540bf0..c2340a7b16 100644
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
@@ -34,9 +34,9 @@ then
 	param set FW_RR_P 0.02
 
 	param set PE_VELNE_NOISE 0.5
-	param set PE_VELD_NOISE 0.7
+	param set PE_VELD_NOISE 0.3
 	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 1.0
+	param set PE_POSD_NOISE 1.25
 	param set PE_GBIAS_PNOISE 0.000001
 	param set PE_ABIAS_PNOISE 0.0001
 fi
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c
index f8cca6c0dd..4702ec6cdb 100644
--- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c
+++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c
@@ -141,13 +141,13 @@ PARAM_DEFINE_FLOAT(PE_VELNE_NOISE, 0.3f);
 /**
  * Velocity noise in down (vertical) direction
  *
- * Generic default: 0.5, multicopters: 0.7, ground vehicles: 0.7
+ * Generic default: 0.3, multicopters: 0.4, ground vehicles: 0.7
  *
  * @min 0.05
  * @max 5.0
  * @group Position Estimator
  */
-PARAM_DEFINE_FLOAT(PE_VELD_NOISE, 0.5f);
+PARAM_DEFINE_FLOAT(PE_VELD_NOISE, 0.3f);
 
 /**
  * Position noise in north-east (horizontal) direction
@@ -163,13 +163,13 @@ PARAM_DEFINE_FLOAT(PE_POSNE_NOISE, 0.5f);
 /**
  * Position noise in down (vertical) direction
  *
- * Generic defaults: 0.5, multicopters: 1.0, ground vehicles: 1.0
+ * Generic defaults: 1.25, multicopters: 1.0, ground vehicles: 1.0
  *
  * @min 0.1
  * @max 10.0
  * @group Position Estimator
  */
-PARAM_DEFINE_FLOAT(PE_POSD_NOISE, 0.5f);
+PARAM_DEFINE_FLOAT(PE_POSD_NOISE, 1.25f);
 
 /**
  * Magnetometer measurement noise