diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control.c b/src/modules/multirotor_pos_control/multirotor_pos_control.c
index 6252178d11..10f21c55de 100644
--- a/src/modules/multirotor_pos_control/multirotor_pos_control.c
+++ b/src/modules/multirotor_pos_control/multirotor_pos_control.c
@@ -259,7 +259,8 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
 
 				for (int i = 0; i < 2; i++) {
 					pid_set_parameters(&(xy_pos_pids[i]), params.xy_p, 0.0f, params.xy_d, 1.0f, 0.0f);
-					pid_set_parameters(&(xy_vel_pids[i]), params.xy_vel_p, params.xy_vel_i, params.xy_vel_d, 1.0f, params.tilt_max);
+					// TODO 1000.0 is hotfix
+					pid_set_parameters(&(xy_vel_pids[i]), params.xy_vel_p, params.xy_vel_i, params.xy_vel_d, 1000.0f, params.tilt_max);
 				}
 
 				pid_set_parameters(&z_pos_pid, params.z_p, 0.0f, params.z_d, 1.0f, params.z_vel_max);
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index 42b5fcb615..d4b2f0e43c 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -453,8 +453,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 					gps_corr[1][0] = gps_proj[1] - y_est[0];
 
 					if (gps.vel_ned_valid) {
-						gps_corr[0][1] = gps.vel_n_m_s;
-						gps_corr[1][1] = gps.vel_e_m_s;
+						gps_corr[0][1] = gps.vel_n_m_s - x_est[1];
+						gps_corr[1][1] = gps.vel_e_m_s - y_est[1];
 
 					} else {
 						gps_corr[0][1] = 0.0f;