diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 6a4bcabab00f9858f8f0532a67541551ab8fcfd1..9349789432dbc0295322e670f5070e94ec2a250b 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -4311,7 +4311,7 @@ default 1.5 turns per second</short_desc>
       <long_desc>This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The copter should constantly behave as if it was fully charged with reduced max acceleration at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery.</long_desc>
       <boolean />
     </parameter>
-    <parameter default="30." name="MC_DTERM_CUTOFF" type="FLOAT">
+    <parameter default="0." name="MC_DTERM_CUTOFF" type="FLOAT">
       <short_desc>Cutoff frequency for the low pass filter on the D-term in the rate controller</short_desc>
       <long_desc>The D-term uses the derivative of the rate and thus is the most susceptible to noise. Therefore, using a D-term filter allows to decrease the driver-level filtering, which leads to reduced control latency and permits to increase the P gains. A value of 0 disables the filter.</long_desc>
       <min>0</min>
@@ -8352,7 +8352,7 @@ is less than 50% of this value</short_desc>
       <unit>Hz</unit>
       <reboot_required>true</reboot_required>
     </parameter>
-    <parameter default="80.0" name="IMU_GYRO_CUTOFF" type="FLOAT">
+    <parameter default="30.0" name="IMU_GYRO_CUTOFF" type="FLOAT">
       <short_desc>Driver level cutoff frequency for gyro</short_desc>
       <long_desc>The cutoff frequency for the 2nd order butterworth filter on the gyro driver. This features is currently supported by the mpu6000 and mpu9250. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.</long_desc>
       <min>0</min>