diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control_params.c b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c
index b7041e4d57..cfb5dc0d47 100644
--- a/src/modules/multirotor_pos_control/multirotor_pos_control_params.c
+++ b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c
@@ -45,14 +45,14 @@ PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.2f);
 PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.8f);
 PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f);
 PARAM_DEFINE_FLOAT(MPC_Z_D, 0.0f);
-PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.1f);
-PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.0f);
+PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.2f);
+PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.1f);
 PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f);
 PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 3.0f);
 PARAM_DEFINE_FLOAT(MPC_XY_P, 0.5f);
 PARAM_DEFINE_FLOAT(MPC_XY_D, 0.0f);
-PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.2f);
-PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.0f);
+PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.1f);
+PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.05f);
 PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.0f);
 PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f);
 PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 0.5f);