diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/defaults.parm
index b39b312c29..2b4395c9f6 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/defaults.parm
@@ -88,8 +88,8 @@ INS_POS2_X,0.82
 INS_POS3_X,0.82
 KFF_RDDRMIX,1
 NAVL1_LIM_BANK,35 # Set to match ROLL_LIMIT_DEG
-NAVL1_PERIOD,18
-PTCH_RATE_D,0.007605
+NAVL1_PERIOD,27
+PTCH_RATE_D,0.0065
 PTCH_RATE_FF,0.7402687
 PTCH_RATE_FLTD,11
 PTCH_RATE_FLTT,3.183099
@@ -102,23 +102,23 @@ PTCH2SRV_RLL,1.05
 PTCH2SRV_RMAX_DN,45
 PTCH2SRV_RMAX_UP,75
 Q_A_ACCEL_P_MAX,8800
-Q_A_ACCEL_R_MAX,13000
+Q_A_ACCEL_R_MAX,9000
 Q_A_ACCEL_Y_MAX,4000
 Q_A_ANG_YAW_P,2
-Q_A_RAT_PIT_D,0.015
+Q_A_RAT_PIT_D,0.03447478
 Q_A_RAT_PIT_FLTD,11
 Q_A_RAT_PIT_FLTE,8
 Q_A_RAT_PIT_FLTT,11
-Q_A_RAT_PIT_I,0.18
+Q_A_RAT_PIT_I,0.4894217
 Q_A_RAT_PIT_IMAX,0.4
-Q_A_RAT_PIT_P,0.18
+Q_A_RAT_PIT_P,0.4894217
 Q_A_RAT_PIT_SMAX,15
-Q_A_RAT_RLL_D,0.006
+Q_A_RAT_RLL_D,0.02028733
 Q_A_RAT_RLL_FLTD,11
 Q_A_RAT_RLL_FLTE,8
 Q_A_RAT_RLL_FLTT,11
-Q_A_RAT_RLL_I,0.3
-Q_A_RAT_RLL_P,0.3
+Q_A_RAT_RLL_I,0.8448284
+Q_A_RAT_RLL_P,0.8448284
 Q_A_RAT_RLL_SMAX,15
 Q_A_RAT_YAW_D,0.002
 Q_A_RAT_YAW_FLTD,11
@@ -129,7 +129,7 @@ Q_A_RAT_YAW_IMAX,0.45
 Q_A_RAT_YAW_P,2.5
 Q_A_RAT_YAW_SMAX,10
 Q_A_RATE_P_MAX,45
-Q_A_RATE_R_MAX,55
+Q_A_RATE_R_MAX,45
 Q_A_RATE_Y_MAX,12
 Q_A_SLEW_YAW,1500
 Q_ANGLE_MAX,1500
@@ -144,27 +144,27 @@ Q_M_BAT_VOLT_MIN,39.6
 Q_M_SPIN_ARM,0.07
 Q_M_SPIN_MIN,0.1
 Q_M_THST_EXPO,0.582
-Q_M_THST_HOVER,0.3868718
+Q_M_THST_HOVER,0.554629
 Q_M_YAW_HEADROOM,100
 Q_OPTIONS,147553
 Q_P_ACCZ_D,0.015
 Q_P_ACCZ_FLTD,6
 Q_P_ACCZ_FLTE,3
 Q_P_ACCZ_FLTT,6
-Q_P_ACCZ_I,0.82
-Q_P_ACCZ_P,0.41
+Q_P_ACCZ_I,1
+Q_P_ACCZ_P,0.5
 Q_P_ANGLE_MAX,10
 Q_P_JERK_XY,1.25
-Q_P_POSXY_P,0.85
+Q_P_POSXY_P,0.5
 Q_P_POSZ_P,1.28
-Q_P_VELXY_D,0.2
-Q_P_VELXY_I,0.4
-Q_P_VELXY_P,0.65
+Q_P_VELXY_D,0.15
+Q_P_VELXY_I,0.2
+Q_P_VELXY_P,0.6
 Q_P_VELZ_FLTD,7
-Q_P_VELZ_FLTE,4
+Q_P_VELZ_FLTE,5
 Q_P_VELZ_I,0.78
 Q_P_VELZ_IMAX,4
-Q_P_VELZ_P,4
+Q_P_VELZ_P,5
 Q_PILOT_ACCEL_Z,1
 Q_PLT_Y_RATE,25
 Q_TRANS_DECEL,0.9