diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
index d1569f415b..2e21ce57db 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
@@ -9,40 +9,33 @@
 
 if [ $AUTOCNF = yes ]
 then
-	param set FW_ARSP_MODE 1
-	param set FW_AIRSPD_MAX 25
-	param set FW_AIRSPD_MIN 14
-	param set FW_AIRSPD_TRIM 16
 	param set FW_L1_PERIOD 12
+	param set FW_MAN_P_MAX 30
+	param set FW_PR_FF 0.2
+	param set FW_PR_I 0.4
+	param set FW_PR_P 0.9
+	param set FW_PSP_OFF 3
+	param set FW_RR_FF 0.1
+	param set FW_RR_P 0.3
 
-	param set MC_ROLLRATE_P 0.3
+	param set MC_YAW_P 1.6
 
-	param set MIS_LTRMIN_ALT 10
 	param set MIS_TAKEOFF_ALT 10
-	param set MIS_YAW_TMT 10
 
 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_THR_MIN 0.1
-	param set MPC_TKO_SPEED 1
-	param set MPC_XY_P 0.15
-	param set MPC_XY_VEL_D_ACC 0.1
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P_ACC 3
 	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_P_ACC 1
-	param set MPC_Z_VEL_MAX_DN 1.5
-	param set MPC_Z_VEL_P_ACC 16
+	param set MPC_XY_VEL_D_ACC 0.1
 
-	param set NAV_ACC_RAD 5
-	param set NAV_LOITER_RAD 80
+	param set NAV_LOITER_RAD 100
 
-	param set VT_F_TRANS_DUR 5.0
-	param set VT_F_TRANS_THR 0.75
-	param set VT_FWD_THRUST_SC 1.1
-	param set VT_TILT_FW 1
-	param set VT_TILT_TRANS 0.6
-	param set VT_ELEV_MC_LOCK 0
-	param set VT_TYPE 1
 	param set VT_B_TRANS_DUR 8
+	param set VT_ELEV_MC_LOCK 0
+	param set VT_FWD_THRUST_EN 4
+	param set VT_MOT_ID 1234
+	param set VT_TILT_TRANS 0.6
+	param set VT_TYPE 1
 
 fi