diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm
index 76d5eca485..aa11e5f3b8 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm
@@ -57,18 +57,19 @@ 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
-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
@@ -99,19 +100,22 @@ PTCH2SRV_RMAX_UP,75
 Q_A_ACCEL_P_MAX,30000
 Q_A_ACCEL_R_MAX,30000
 Q_A_ACCEL_Y_MAX,4500
-Q_A_ANG_PIT_P,1.2
-Q_A_ANG_RLL_P,2
+Q_A_ANG_PIT_P,5.5
+Q_A_ANG_RLL_P,5
 Q_A_ANG_YAW_P,2.4
-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
 Q_A_RAT_YAW_FLTE,2