diff --git a/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad b/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad
index 69252ef5fe..d017fd9eb2 100644
--- a/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad
+++ b/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad
@@ -14,16 +14,18 @@ then
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
 	param set VT_TRANS_THR 0.75
+	param set VT_ARSP_TRANS 12
+	param set VT_ARSP_BLEND 6
 
-	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLL_P 6.0
+	param set MC_ROLLRATE_P 0.17
 	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_D 0.004
 	param set MC_ROLLRATE_FF 0.0
-	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.12
+	param set MC_PITCH_P 6.0
+	param set MC_PITCHRATE_P 0.19
 	param set MC_PITCHRATE_I 0.002
-	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_D 0.004
 	param set MC_PITCHRATE_FF 0.0
 	param set MC_YAW_P 2.8
 	param set MC_YAW_FF 0.5
@@ -31,6 +33,16 @@ then
 	param set MC_YAWRATE_I 0.02
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
+
+	param set FW_PR_FF 0.5
+	param set FW_PR_I 0.02
+	param set FW_PR_IMAX 0.4
+	param set FW_PR_P 0.08
+	param set FW_RR_FF 0.6
+	param set FW_RR_I 0.01
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.05
+	param set FW_THR_CRUISE 0.75
 fi
 
 set MIXER vtol_quad_x
diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
index 8d076ff5cd..9e526c700d 100644
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
@@ -4,34 +4,9 @@ set VEHICLE_TYPE vtol
 
 if [ $AUTOCNF == yes ]
 then
-	#
-	#Default controller parameters for MC
-	#
 	param set MC_ROLL_P 6.0
-	param set MC_ROLLRATE_P 0.1
-	param set MC_ROLLRATE_I 0.0
-	param set MC_ROLLRATE_D 0.003
 	param set MC_PITCH_P 6.0
-	param set MC_PITCHRATE_P 0.2
-	param set MC_PITCHRATE_I 0.0
-	param set MC_PITCHRATE_D 0.003
 	param set MC_YAW_P 4
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.0
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.3
-
-	#
-	# Default parameters for FW
-	#
-	param set FW_PR_FF 0.3
-	param set FW_PR_I 0.000
-	param set FW_PR_IMAX 0.2
-	param set FW_PR_P 0.02
-	param set FW_RR_FF 0.3
-	param set FW_RR_I 0.00
-	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.02
 
 	param set PE_VELNE_NOISE 0.5
 	param set PE_VELD_NOISE 0.3