diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 22959a51f0c857c79857406a2ed9cc7f7d97f82e..bd14f1abdeac528b6a4b2424ef05ca37c9ec81cf 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -5080,7 +5080,7 @@ default 1.5 turns per second</short_desc>
     <parameter default="1.0" name="MC_PITCHRATE_K" type="FLOAT">
       <short_desc>Pitch rate controller gain</short_desc>
       <long_desc>Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_PITCHRATE_K * (MC_PITCHRATE_P * error + MC_PITCHRATE_I * error_integral + MC_PITCHRATE_D * error_derivative) Set MC_PITCHRATE_P=1 to implement a PID in the ideal form. Set MC_PITCHRATE_K=1 to implement a PID in the parallel form.</long_desc>
-      <min>0.0</min>
+      <min>0.01</min>
       <max>5.0</max>
       <decimal>4</decimal>
       <increment>0.0005</increment>
@@ -5088,7 +5088,7 @@ default 1.5 turns per second</short_desc>
     <parameter default="0.15" name="MC_PITCHRATE_P" type="FLOAT">
       <short_desc>Pitch rate P gain</short_desc>
       <long_desc>Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.</long_desc>
-      <min>0.0</min>
+      <min>0.01</min>
       <max>0.6</max>
       <decimal>3</decimal>
       <increment>0.01</increment>
@@ -5124,7 +5124,7 @@ default 1.5 turns per second</short_desc>
     <parameter default="1.0" name="MC_ROLLRATE_K" type="FLOAT">
       <short_desc>Roll rate controller gain</short_desc>
       <long_desc>Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_ROLLRATE_K * (MC_ROLLRATE_P * error + MC_ROLLRATE_I * error_integral + MC_ROLLRATE_D * error_derivative) Set MC_ROLLRATE_P=1 to implement a PID in the ideal form. Set MC_ROLLRATE_K=1 to implement a PID in the parallel form.</long_desc>
-      <min>0.0</min>
+      <min>0.01</min>
       <max>5.0</max>
       <decimal>4</decimal>
       <increment>0.0005</increment>
@@ -5132,7 +5132,7 @@ default 1.5 turns per second</short_desc>
     <parameter default="0.15" name="MC_ROLLRATE_P" type="FLOAT">
       <short_desc>Roll rate P gain</short_desc>
       <long_desc>Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.</long_desc>
-      <min>0.0</min>
+      <min>0.01</min>
       <max>0.5</max>
       <decimal>3</decimal>
       <increment>0.01</increment>