diff --git a/flight/modules/PathFollower/vtolautotakeoffcontroller.cpp b/flight/modules/PathFollower/vtolautotakeoffcontroller.cpp
index 729f65097..2c4bdc569 100644
--- a/flight/modules/PathFollower/vtolautotakeoffcontroller.cpp
+++ b/flight/modules/PathFollower/vtolautotakeoffcontroller.cpp
@@ -126,7 +126,7 @@ void VtolAutoTakeoffController::SettingsUpdated(void)
     controlNE.UpdateParameters(vtolPathFollowerSettings->HorizontalVelPID.Kp,
                                vtolPathFollowerSettings->HorizontalVelPID.Ki,
                                vtolPathFollowerSettings->HorizontalVelPID.Kd,
-                               vtolPathFollowerSettings->HorizontalVelPID.ILimit,
+                               vtolPathFollowerSettings->HorizontalVelPID.Beta,
                                dT,
                                vtolPathFollowerSettings->HorizontalVelMax);
 
diff --git a/flight/modules/PathFollower/vtolbrakecontroller.cpp b/flight/modules/PathFollower/vtolbrakecontroller.cpp
index 208e862f7..862011057 100644
--- a/flight/modules/PathFollower/vtolbrakecontroller.cpp
+++ b/flight/modules/PathFollower/vtolbrakecontroller.cpp
@@ -132,7 +132,7 @@ void VtolBrakeController::SettingsUpdated(void)
     controlNE.UpdateParameters(vtolPathFollowerSettings->BrakeHorizontalVelPID.Kp,
                                vtolPathFollowerSettings->BrakeHorizontalVelPID.Ki,
                                vtolPathFollowerSettings->BrakeHorizontalVelPID.Kd,
-                               vtolPathFollowerSettings->BrakeHorizontalVelPID.ILimit,
+                               vtolPathFollowerSettings->BrakeHorizontalVelPID.Beta,
                                dT,
                                10.0f * vtolPathFollowerSettings->HorizontalVelMax); // avoid constraining initial fast entry into brake
     controlNE.UpdatePositionalParameters(vtolPathFollowerSettings->HorizontalPosP);
diff --git a/flight/modules/PathFollower/vtolflycontroller.cpp b/flight/modules/PathFollower/vtolflycontroller.cpp
index e76c09d54..0160d0e79 100644
--- a/flight/modules/PathFollower/vtolflycontroller.cpp
+++ b/flight/modules/PathFollower/vtolflycontroller.cpp
@@ -127,7 +127,7 @@ void VtolFlyController::SettingsUpdated(void)
     controlNE.UpdateParameters(vtolPathFollowerSettings->HorizontalVelPID.Kp,
                                vtolPathFollowerSettings->HorizontalVelPID.Ki,
                                vtolPathFollowerSettings->HorizontalVelPID.Kd,
-                               vtolPathFollowerSettings->HorizontalVelPID.ILimit,
+                               vtolPathFollowerSettings->HorizontalVelPID.Beta,
                                dT,
                                vtolPathFollowerSettings->HorizontalVelMax);
     controlNE.UpdatePositionalParameters(vtolPathFollowerSettings->HorizontalPosP);
@@ -136,7 +136,7 @@ void VtolFlyController::SettingsUpdated(void)
     controlDown.UpdateParameters(vtolPathFollowerSettings->VerticalVelPID.Kp,
                                  vtolPathFollowerSettings->VerticalVelPID.Ki,
                                  vtolPathFollowerSettings->VerticalVelPID.Kd,
-                                 vtolPathFollowerSettings->VerticalVelPID.ILimit, // TODO Change to BETA
+                                 vtolPathFollowerSettings->VerticalVelPID.Beta,
                                  dT,
                                  vtolPathFollowerSettings->VerticalVelMax);
     controlDown.UpdatePositionalParameters(vtolPathFollowerSettings->VerticalPosP);
diff --git a/flight/modules/PathFollower/vtollandcontroller.cpp b/flight/modules/PathFollower/vtollandcontroller.cpp
index 96b4a40c7..97a7d466f 100644
--- a/flight/modules/PathFollower/vtollandcontroller.cpp
+++ b/flight/modules/PathFollower/vtollandcontroller.cpp
@@ -120,7 +120,7 @@ void VtolLandController::SettingsUpdated(void)
     controlNE.UpdateParameters(vtolPathFollowerSettings->HorizontalVelPID.Kp,
                                vtolPathFollowerSettings->HorizontalVelPID.Ki,
                                vtolPathFollowerSettings->HorizontalVelPID.Kd,
-                               vtolPathFollowerSettings->HorizontalVelPID.ILimit,
+                               vtolPathFollowerSettings->HorizontalVelPID.Beta,
                                dT,
                                vtolPathFollowerSettings->HorizontalVelMax);
 
diff --git a/flight/modules/PathFollower/vtolvelocitycontroller.cpp b/flight/modules/PathFollower/vtolvelocitycontroller.cpp
index 84ba99daa..68018c5ea 100644
--- a/flight/modules/PathFollower/vtolvelocitycontroller.cpp
+++ b/flight/modules/PathFollower/vtolvelocitycontroller.cpp
@@ -107,7 +107,7 @@ void VtolVelocityController::SettingsUpdated(void)
     controlNE.UpdateParameters(vtolPathFollowerSettings->HorizontalVelPID.Kp,
                                vtolPathFollowerSettings->HorizontalVelPID.Ki,
                                vtolPathFollowerSettings->HorizontalVelPID.Kd,
-                               vtolPathFollowerSettings->HorizontalVelPID.ILimit,
+                               vtolPathFollowerSettings->HorizontalVelPID.Beta,
                                dT,
                                vtolPathFollowerSettings->HorizontalVelMax);
 
@@ -181,7 +181,7 @@ int8_t VtolVelocityController::UpdateStabilizationDesired(__attribute__((unused)
     ManualControlCommandData manualControl;
     ManualControlCommandGet(&manualControl);
 
-    stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
+    stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
     stabDesired.Yaw = stabSettings.MaximumRate.Yaw * manualControl.Yaw;
 
     // default thrust mode to altvario
diff --git a/shared/uavobjectdefinition/vtolpathfollowersettings.xml b/shared/uavobjectdefinition/vtolpathfollowersettings.xml
index 86eea36bc..4f6758035 100644
--- a/shared/uavobjectdefinition/vtolpathfollowersettings.xml
+++ b/shared/uavobjectdefinition/vtolpathfollowersettings.xml
@@ -7,8 +7,8 @@
         <field name="CourseFeedForward" units="s" type="float" elements="1" defaultvalue="1.0"/>
         <field name="HorizontalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.25"/>
         <field name="VerticalPosP" units="" type="float" elements="1" defaultvalue="0.4"/>
-        <field name="HorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="8.0, 0.5, 0.0, 15"/>
-        <field name="VerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.3, 0.3, 0.0, 1.0"/>
+        <field name="HorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="8.0, 0.5, 0.0, 0.95"/>
+        <field name="VerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.3, 0.3, 0.0, 0.95"/>
         <field name="ThrustLimits" units="" type="float" elementnames="Min,Neutral,Max" defaultvalue="0.2, 0.5, 0.9"/>
         <field name="VelocityFeedforward" units="deg/(m/s)" type="float" elements="1" defaultvalue="2"/>
         <field name="ThrustControl" units="" type="enum" elements="1" options="manual,auto" defaultvalue="manual"/>
@@ -21,10 +21,10 @@
         <field name="UpdatePeriod" units="ms" type="uint16" elements="1" defaultvalue="50"/>
         <field name="BrakeRate" units="m/s2" type="float" elements="1" defaultvalue="2.5"/>
         <field name="BrakeMaxPitch" units="deg" type="float" elements="1" defaultvalue="25"/>
-        <field name="BrakeHorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="12.0, 0.0, 0.03, 15"/>
+        <field name="BrakeHorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="12.0, 0.0, 0.03, 0.95"/>
         <field name="BrakeVelocityFeedforward" units="deg/(m/s)" type="float" elements="1" defaultvalue="0"/>
-        <field name="LandVerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.42, 3.0, 0.02, 0.9"/>
-        <field name="AutoTakeoffVerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.42, 3.0, 0.02, 0.9"/>
+        <field name="LandVerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.42, 3.0, 0.02, 0.95"/>
+        <field name="AutoTakeoffVerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.42, 3.0, 0.02, 0.95"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>