diff --git a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
index 4c76961cbd1a8e3adfacd5879ee2a790a328dc9e..48dfbc68a4d72e6ee0b86c110aa7062f2fef763c 100644
--- a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
+++ b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
@@ -338,7 +338,12 @@
       <maintainer>Michael Schaeuble</maintainer>
       <type>Quadrotor x</type>
     </airframe>
-    <airframe id="4014" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="S500">
+    <airframe id="4014" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="S500 Generic">
+      <class>Copter</class>
+      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
+      <type>Quadrotor x</type>
+    </airframe>
+    <airframe id="4015" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="Holybro S500">
       <class>Copter</class>
       <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
       <type>Quadrotor x</type>
diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index fd4e37128178f670ab2164e8ef49846427bb496f..a6703adba496e45f2471d1e30ce0fe8c842a10a5 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -4367,7 +4367,7 @@ default 1.5 turns per second</short_desc>
       <min>0.0</min>
       <decimal>4</decimal>
     </parameter>
-    <parameter default="0.05" name="MC_PITCHRATE_I" type="FLOAT">
+    <parameter default="0.2" name="MC_PITCHRATE_I" type="FLOAT">
       <short_desc>Pitch rate I gain</short_desc>
       <long_desc>Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</long_desc>
       <min>0.0</min>
@@ -4429,7 +4429,7 @@ default 1.5 turns per second</short_desc>
       <min>0.0</min>
       <decimal>4</decimal>
     </parameter>
-    <parameter default="0.05" name="MC_ROLLRATE_I" type="FLOAT">
+    <parameter default="0.2" name="MC_ROLLRATE_I" type="FLOAT">
       <short_desc>Roll rate I gain</short_desc>
       <long_desc>Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</long_desc>
       <min>0.0</min>