diff --git a/shared/uavobjectdefinition/ekfconfiguration.xml b/shared/uavobjectdefinition/ekfconfiguration.xml
index fee4f68e7..bf248a84b 100644
--- a/shared/uavobjectdefinition/ekfconfiguration.xml
+++ b/shared/uavobjectdefinition/ekfconfiguration.xml
@@ -2,9 +2,9 @@
     <object name="EKFConfiguration" singleinstance="true" settings="true" category="State">
         <description>Extended Kalman Filter initialisation</description>
 	<field name="P" units="1^2" type="float" defaultvalue="
-		10.0, 10.0, 10.0,
-		1.0, 1.0, 1.0,
-		0.007, 0.007, 0.007, 0.007,
+		25.0, 25.0, 25.0,
+		5.0, 5.0, 5.0,
+		0.00001, 0.00001, 0.00001, 0.00001,
 		0.000001, 0.000001, 0.000001">
 		<elementnames>
 			<elementname>PositionNorth</elementname>
@@ -23,8 +23,8 @@
 		</elementnames>
 	</field>
 	<field name="Q" units="1^2" type="float" defaultvalue="
-		0.01, 0.01, 0.01,
-		0.01, 0.01, 0.01,
+		0.00001, 0.00001, 0.0001,
+		0.003, 0.003, 0.003,
 		0.000001, 0.000001, 0.000001">
 		<elementnames>
 			<elementname>GyroX</elementname>
@@ -39,9 +39,9 @@
 		</elementnames>
 	</field>
 	<field name="R" units="1^2" type="float" defaultvalue="
-		1, 1, 1000000,
-		0.001, 0.001, 0.001,
-		10, 10, 10,
+		0.01, .01, 1000000,
+		0.01, 0.01, 0.01,
+		10, 10, 100,
 		0.01">
 		<elementnames>
 			<elementname>GPSPosNorth</elementname>