diff --git a/flight/modules/AltitudeHold/altitudehold.c b/flight/modules/AltitudeHold/altitudehold.c
index fb86e5443..85cfaff6b 100644
--- a/flight/modules/AltitudeHold/altitudehold.c
+++ b/flight/modules/AltitudeHold/altitudehold.c
@@ -250,6 +250,7 @@ static void altitudeHoldTask(__attribute__((unused)) void *parameters)
             if (!enterFailSafe) {
                 if(fabsf(altitudeHoldDesired.Velocity) < 1e-3f) {
                     stabilizationDesired.Throttle = error * altitudeHoldSettings.Kp
+                                                    + error * fabsf(error) * altitudeHoldSettings.Kp2
                                                     + throttleIntegral
                                                     - altHold.Velocity * altitudeHoldSettings.Kd
                                                     - altHold.Accel * altitudeHoldSettings.Ka;
diff --git a/flight/modules/ManualControl/manualcontrol.c b/flight/modules/ManualControl/manualcontrol.c
index 3f6107f7b..70730c599 100644
--- a/flight/modules/ManualControl/manualcontrol.c
+++ b/flight/modules/ManualControl/manualcontrol.c
@@ -813,7 +813,7 @@ static void updateLandDesired(__attribute__((unused)) ManualControlCommandData *
  */
 static void altitudeHoldDesired(ManualControlCommandData *cmd, bool changed)
 {
-    const float DEADBAND      = 0.25f;
+    const float DEADBAND      = 0.20f;
     const float DEADBAND_HIGH = 1.0f / 2 + DEADBAND / 2;
     const float DEADBAND_LOW  = 1.0f / 2 - DEADBAND / 2;
 
diff --git a/shared/uavobjectdefinition/altitudeholdsettings.xml b/shared/uavobjectdefinition/altitudeholdsettings.xml
index ca190ba56..f609dc81d 100644
--- a/shared/uavobjectdefinition/altitudeholdsettings.xml
+++ b/shared/uavobjectdefinition/altitudeholdsettings.xml
@@ -1,15 +1,16 @@
 <xml>
     <object name="AltitudeHoldSettings" singleinstance="true" settings="true" category="Control">
         <description>Settings for the @ref AltitudeHold module</description>
-	<field name="Kp" units="throttle/m" type="float" elements="1" defaultvalue="0.03"/>
-	<field name="Kv" units="throttle/(m/s)" type="float" elements="1" defaultvalue="0.01"/>
-	<field name="Ki" units="throttle/m" type="float" elements="1" defaultvalue="0"/>
-	<field name="Kd" units="throttle/m" type="float" elements="1" defaultvalue="0.03"/>
-	<field name="Ka" units="throttle/(m/s^2)" type="float" elements="1" defaultvalue="0.005"/>
-	<field name="VelocityTau" units="" type="float" elements="1" defaultvalue="0.05"/>
-	<field name="AccelTau" units="" type="float" elements="1" defaultvalue="0.05"/>
-	<field name="ThrottleExp" units="" type="uint8" elements="1" defaultvalue="128"/>
-	<field name="ThrottleRate" units="m/s" type="uint8" elements="1" defaultvalue="5"/>
+		<field name="Kp" units="throttle/m" type="float" elements="1" defaultvalue="0"/>
+		<field name="Kp2" units="throttle/m^2" type="float" elements="1" defaultvalue="0.03"/>
+		<field name="Kv" units="throttle/(m/s)" type="float" elements="1" defaultvalue="0.01"/>
+		<field name="Ki" units="throttle/m" type="float" elements="1" defaultvalue="0"/>
+		<field name="Kd" units="throttle/m" type="float" elements="1" defaultvalue="0.03"/>
+		<field name="Ka" units="throttle/(m/s^2)" type="float" elements="1" defaultvalue="0.005"/>
+		<field name="VelocityTau" units="" type="float" elements="1" defaultvalue="0.05"/>
+		<field name="AccelTau" units="" type="float" elements="1" defaultvalue="0.05"/>
+		<field name="ThrottleExp" units="" type="uint8" elements="1" defaultvalue="128"/>
+		<field name="ThrottleRate" units="m/s" type="uint8" elements="1" defaultvalue="5"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>