diff --git a/ROMFS/px4fmu_common/init.d/4070_aerofc b/ROMFS/px4fmu_common/init.d/4070_aerofc
index 6c107cf93a..c878556191 100644
--- a/ROMFS/px4fmu_common/init.d/4070_aerofc
+++ b/ROMFS/px4fmu_common/init.d/4070_aerofc
@@ -16,15 +16,18 @@ then
 	param set MC_ROLLRATE_P 0.1300
 	param set MC_ROLLRATE_I 0.05
 	param set MC_ROLLRATE_D 0.0012
+	param set MC_ROLLRATE_MAX 360
 	param set MC_PITCH_P 8.0000
 	param set MC_PITCHRATE_P 0.1300
 	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.0012
-	param set MC_YAW_P 3.0
+	param set MC_PITCHRATE_MAX 360
+	param set MC_YAW_P 4.0
 	param set MC_YAWRATE_P 0.119999997317790985
 	param set MC_YAWRATE_I 0.050000000745058060
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAW_FF 0.5
+	param set MPC_XY_CRUISE 8
 
 	param set SYS_LOGGER 1
 fi