diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm
index ccabe3770b..73408de761 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm
@@ -56,18 +56,19 @@ GPS_POS2_X,-0.12
 GPS_POS2_Y,0.17
 GPS_POS2_Z,-0.06
 INS_ACCEL_FILTER,6
-INS_HNTC2_ATT,50
-INS_HNTC2_BW,6
+INS_GYRO_FILTER,30
+INS_HNTC2_ATT,8
+INS_HNTC2_BW,5
 INS_HNTC2_ENABLE,1
 INS_HNTC2_FREQ,8 # DISABLE_CHECKS: we are only slightly below the recommended 10Hz
-INS_HNTC2_HMNCS,3
 INS_HNTC2_MODE,4
 INS_HNTC2_OPTS,2
 INS_HNTC2_REF,1
-INS_HNTCH_ATT,50
-INS_HNTCH_BW,60
+INS_HNTCH_ATT,5
+INS_HNTCH_BW,30
 INS_HNTCH_ENABLE,1
 INS_HNTCH_FREQ,95
+INS_HNTCH_HMNCS,3
 INS_HNTCH_MODE,3
 INS_HNTCH_OPTS,3
 INS_HNTCH_REF,1
@@ -101,16 +102,19 @@ Q_A_ACCEL_Y_MAX,4500
 Q_A_ANG_PIT_P,1.2 # DISABLE_CHECKS: AP limits are based on small quadcopters
 Q_A_ANG_RLL_P,2 # DISABLE_CHECKS: AP limits are based on small quadcopters
 Q_A_ANG_YAW_P,2.4 # DISABLE_CHECKS: AP limits are based on small quadcopters
-Q_A_RAT_PIT_D,0.012
-Q_A_RAT_PIT_FLTE,7
-Q_A_RAT_PIT_FLTT,10
-Q_A_RAT_PIT_I,0.33
+Q_A_RAT_PIT_D,0.00448
+Q_A_RAT_PIT_FLTD,15
+Q_A_RAT_PIT_FLTE,15
+Q_A_RAT_PIT_FLTT,15
+Q_A_RAT_PIT_I,0.233
+Q_A_RAT_PIT_P,0.233
 Q_A_RAT_PIT_SMAX,10
-Q_A_RAT_RLL_D,0.007
-Q_A_RAT_RLL_FLTE,7
-Q_A_RAT_RLL_FLTT,10
-Q_A_RAT_RLL_I,0.34
-Q_A_RAT_RLL_P,0.3
+Q_A_RAT_RLL_D,0.00256
+Q_A_RAT_RLL_FLTD,15
+Q_A_RAT_RLL_FLTE,15
+Q_A_RAT_RLL_FLTT,15
+Q_A_RAT_RLL_I,0.288
+Q_A_RAT_RLL_P,0.288
 Q_A_RAT_RLL_SMAX,10
 Q_A_RAT_YAW_D,0.026 # DISABLE_CHECKS: AP limits are based on small quadcopters
 Q_A_RAT_YAW_FLTE,2