diff --git a/ROMFS/px4fmu_common/init.d/4009_qav250 b/ROMFS/px4fmu_common/init.d/4009_qav250
index a3ce6d0f6b..2d0e3ebe41 100644
--- a/ROMFS/px4fmu_common/init.d/4009_qav250
+++ b/ROMFS/px4fmu_common/init.d/4009_qav250
@@ -15,18 +15,19 @@ sh /etc/init.d/4001_quad_x
 
 if [ $AUTOCNF == yes ]
 then
-	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.05
-	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.002
+	param set MC_ROLL_P 6.0
+	param set MC_ROLLRATE_P 0.14
+	param set MC_ROLLRATE_I 0.23
+	param set MC_ROLLRATE_D 0.0025
 	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.08
-	param set MC_PITCHRATE_I 0.1
-	param set MC_PITCHRATE_D 0.003
-	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
+	param set MC_PITCHRATE_P 0.235
+	param set MC_PITCHRATE_I 0.17
+	param set MC_PITCHRATE_D 0.004
+	param set MC_YAW_P 4
+	param set MC_YAWRATE_P 0.3
+	param set MC_YAWRATE_I 0.2
 	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.5
 	param set PWM_MIN 1075
 	param set MPC_THR_MIN 0.06
 	param set MPC_MANTHR_MIN 0.06