diff --git a/src/modules/flight_mode_manager/tasks/ReturnDeadReckoning/FlightTaskReturnDeadReckoning.cpp b/src/modules/flight_mode_manager/tasks/ReturnDeadReckoning/FlightTaskReturnDeadReckoning.cpp
index 231631496e..82be530455 100644
--- a/src/modules/flight_mode_manager/tasks/ReturnDeadReckoning/FlightTaskReturnDeadReckoning.cpp
+++ b/src/modules/flight_mode_manager/tasks/ReturnDeadReckoning/FlightTaskReturnDeadReckoning.cpp
@@ -265,18 +265,18 @@ void FlightTaskReturnDeadReckoning::_updateSubscriptions()
 bool FlightTaskReturnDeadReckoning::_initializeSmoothers()
 {
 	// Initialize the heading smoother
-	_heading_smoothing.setMaxHeadingRate(_param_mpc_yawrauto_max.get());
-	_heading_smoothing.setMaxHeadingAccel(_param_mpc_yawrauto_acc.get());
+	_heading_smoothing.setMaxHeadingRate(_heading_smoothing_scaling_factor * _param_mpc_yawrauto_max.get());
+	_heading_smoothing.setMaxHeadingAccel(_heading_smoothing_scaling_factor * _param_mpc_yawrauto_acc.get());
 	_heading_smoothing.reset(_sub_vehicle_local_position.get().heading, 0.0f);
 
 	// Initialize the position smoother
-	_slew_rate_velocity_z.setSlewRate(_param_mpc_acc_up_max.get());
+	_slew_rate_velocity_z.setSlewRate(_velocity_z_rate_scaling_factor * _param_mpc_acc_up_max.get());
 	_slew_rate_velocity_z.setForcedValue((float) _sub_vehicle_local_position.get().vz);
 
 	// Initialize the acceleration smoothers
-	_slew_rate_acceleration_x.setSlewRate(_param_mpc_jerk_auto.get());
+	_slew_rate_acceleration_x.setSlewRate(_jerk_scaling_factor * _param_mpc_jerk_auto.get());
 	_slew_rate_acceleration_x.setForcedValue(_sub_vehicle_local_position.get().ax);
-	_slew_rate_acceleration_y.setSlewRate(_param_mpc_jerk_auto.get());
+	_slew_rate_acceleration_y.setSlewRate(_jerk_scaling_factor * _param_mpc_jerk_auto.get());
 	_slew_rate_acceleration_y.setForcedValue(_sub_vehicle_local_position.get().ay);
 
 	return true;
diff --git a/src/modules/flight_mode_manager/tasks/ReturnDeadReckoning/FlightTaskReturnDeadReckoning.hpp b/src/modules/flight_mode_manager/tasks/ReturnDeadReckoning/FlightTaskReturnDeadReckoning.hpp
index 1693aeccae..3309574208 100644
--- a/src/modules/flight_mode_manager/tasks/ReturnDeadReckoning/FlightTaskReturnDeadReckoning.hpp
+++ b/src/modules/flight_mode_manager/tasks/ReturnDeadReckoning/FlightTaskReturnDeadReckoning.hpp
@@ -136,12 +136,14 @@ private:
 	float _initial_distance_to_home{0.0f};			/**< Initial distance to home position */
 	float _distance_flown_estimate{0.0f};
 
+	float _heading_smoothing_scaling_factor{0.5f};		/**< Scaling factor applied to heading smoothing limits */
 	HeadingSmoothing _heading_smoothing;			/**< Smoother for heading */
+	float _jerk_scaling_factor{0.2f};			/**< Scaling factor applied to acceleration slew rate (jerk) */
 	SlewRate<float> _slew_rate_acceleration_x{0.0f};	/**< Slew rate for x-acceleration setpoint */
 	SlewRate<float> _slew_rate_acceleration_y{0.0f};	/**< Slew rate for y-acceleration setpoint */
+	float _velocity_z_rate_scaling_factor{0.4f};		/**< Scaling factor applied to the vertical velocity slew rate */
 	SlewRate<float> _slew_rate_velocity_z{0.0f};		/**< Slew rate for vertical velocity */
 
-
 	float _rtl_alt{0.0f};					/**< Return altitude */
 	float _rtl_acc{0.0f};					/**< Return acceleration */