diff --git a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
index e6c09ecbd2..2e40df0ff3 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
+++ b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
@@ -27,7 +27,9 @@ param set-default FW_AIRSPD_MAX 3
 param set-default FW_AIRSPD_MIN 0
 param set-default FW_AIRSPD_TRIM 1
 
-param set-default GND_L1_DIST 10
+# Settings for a typical wheelbase 0f 0.3m
+param set-default GND_L1_DIST 1
+param set-default GND_L1_PERIOD 5
 param set-default GND_SP_CTRL_MODE 1
 param set-default GND_SPEED_P 0.25
 param set-default GND_SPEED_I 3
@@ -37,10 +39,6 @@ param set-default GND_SPEED_THR_SC 1
 param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0
-param set-default GND_WR_P 2
-param set-default GND_WR_I 0.9674
-param set-default GND_WR_IMAX 0.1
-param set-default GND_WR_D 1.2
 
 param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01