diff --git a/posix-configs/bebop/px4.config b/posix-configs/bebop/px4.config
index e0689a4d2a..aaec03ae00 100644
--- a/posix-configs/bebop/px4.config
+++ b/posix-configs/bebop/px4.config
@@ -4,6 +4,10 @@ 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_I 0.05
 param set MC_ROLL_P 6.5
 param set MC_ROLLRATE_P 0.109999999403953552
 param set MC_ROLLRATE_I 0.0