diff --git a/posix-configs/bebop/px4.config b/posix-configs/bebop/px4.config
index f83071f648..8a13f88002 100644
--- a/posix-configs/bebop/px4.config
+++ b/posix-configs/bebop/px4.config
@@ -4,23 +4,27 @@ param load
 param set SYS_AUTOSTART 4013
 param set MAV_BROADCAST 1
 param set MAV_TYPE 3
+
 param set MPC_XY_VEL_P 0.12
 param set MPC_XY_P 1.3
-param set MPC_XY_VEL_D 0.002
+param set MPC_XY_VEL_D 0.006
 param set MPC_XY_VEL_I 0.05
-param set MC_ROLL_P 6.5
-param set MC_ROLLRATE_P 0.109999999403953552
-param set MC_ROLLRATE_I 0.0
-param set MC_ROLLRATE_D 0.0006
-param set MC_PITCH_P 6.5
-param set MC_PITCHRATE_P 0.1
-param set MC_PITCHRATE_I 0.0
-param set MC_PITCHRATE_D 0.000799999
-param set MC_YAW_P 1.049999
-param set MC_YAWRATE_P 0.05
-param set MC_YAWRATE_I 0.001
-param set MC_YAWRATE_D 0.0
-param set MC_YAW_FF 0.7
+param set MPC_Z_VEL_I 0.1
+param set MPC_ACC_HOR_MAX 2
+param set MPC_XY_VEL_MAX 2
+
+param set MC_YAW_P 4.0
+param set MC_YAWRATE_P 0.08
+param set MC_YAW_FF 0.5
+
+param set MC_ROLLRATE_P 0.08
+param set MC_ROLLRATE_D 0.001
+param set MC_ROLLRATE_I 0.1
+
+param set MC_PITCHRATE_P 0.08
+param set MC_PITCHRATE_D 0.001
+param set MC_PITCHRATE_I 0.1
+
 df_ms5607_wrapper start
 df_mpu6050_wrapper start -R 8
 df_ak8963_wrapper start -R 32