diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1045_gazebo-classic_quadtailsitter b/ROMFS/px4fmu_common/init.d-posix/airframes/1045_gazebo-classic_quadtailsitter
index cb759048ca..df51ca68be 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1045_gazebo-classic_quadtailsitter
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1045_gazebo-classic_quadtailsitter
@@ -33,23 +33,25 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 0
 
-param set-default FW_PR_I 0.2
-param set-default FW_PR_P 0.4
+parm set-default FD_FAIL_R 70
+
+param set-default FW_P_TC 0.6
+
+param set-default FW_PR_I 0.3
+param set-default FW_PR_P 0.5
 param set-default FW_PSP_OFF 2
-param set-default FW_RR_P 0.4
-param set-default FW_YR_P 0.2
-param set-default FW_THR_TRIM 0.33
-param set-default FW_THR_MAX 0.6
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_I 0.1
+param set-default FW_RR_P 0.2
+param set-default FW_YR_FF 0 # make yaw rate controller very weak, only keep default P
+param set-default FW_YR_I 0
+param set-default FW_THR_TRIM 0.35
+param set-default FW_THR_MAX 0.8
 param set-default FW_THR_MIN 0.05
-param set-default FW_T_ALT_TC 2
-param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_CLMB_MAX 6
 param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-param set-default FW_T_TAS_TC 2
-param set-default FW_R_TC 0.1
-param set-default FW_P_TC 0.1
-param set-default FW_R_LIM 60.0
+param set-default FW_T_SINK_MAX 3
+param set-default FW_T_SINK_MIN 1.6
 param set-default FW_AIRSPD_STALL 10
 param set-default FW_AIRSPD_MIN 14
 param set-default FW_AIRSPD_TRIM 18
@@ -62,21 +64,10 @@ param set-default MC_PITCH_P 3
 param set-default MC_ROLLRATE_P 0.3
 param set-default MC_PITCHRATE_P 0.3
 
-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
-
-param set-default NPFG_PERIOD 10
-param set-default NAV_ACC_RAD 10
-
+param set-default VT_ARSP_TRANS 15
 param set-default VT_FW_DIFTHR_EN 7
-param set-default VT_FW_DIFTHR_S_R 0.5
-param set-default VT_FW_DIFTHR_S_P 0.5
-param set-default VT_FW_DIFTHR_S_Y 0.5
+param set-default VT_FW_DIFTHR_S_Y 1
 param set-default VT_F_TRANS_DUR 1.5
-param set-default VT_F_TRANS_THR 0.7
 param set-default VT_TYPE 0
 
 param set-default WV_EN 0