diff --git a/flight/libraries/plans.c b/flight/libraries/plans.c
index 750e6d571..fda8b3f74 100644
--- a/flight/libraries/plans.c
+++ b/flight/libraries/plans.c
@@ -167,7 +167,7 @@ void plan_run_land()
  */
 static bool vario_hold    = true;
 static float hold_position[3];
-static float vario_control_lowpass[4];
+static float vario_control_lowpass[3];
 static float vario_course = 0.0f;
 
 static void plan_setup_PositionVario()
@@ -176,7 +176,6 @@ static void plan_setup_PositionVario()
     vario_control_lowpass[0] = 0.0f;
     vario_control_lowpass[1] = 0.0f;
     vario_control_lowpass[2] = 0.0f;
-    vario_control_lowpass[3] = 0.0f;
     AttitudeStateYawGet(&vario_course);
     plan_setup_positionHold();
 }
@@ -316,11 +315,9 @@ static void plan_run_PositionVario(vario_type type)
     vario_control_lowpass[0] = alpha * vario_control_lowpass[0] + (1.0f - alpha) * controlVector[0];
     vario_control_lowpass[1] = alpha * vario_control_lowpass[1] + (1.0f - alpha) * controlVector[1];
     vario_control_lowpass[2] = alpha * vario_control_lowpass[2] + (1.0f - alpha) * controlVector[2];
-    vario_control_lowpass[3] = alpha * vario_control_lowpass[3] + (1.0f - alpha) * controlVector[3];
     controlVector[0] = vario_control_lowpass[0];
     controlVector[1] = vario_control_lowpass[1];
     controlVector[2] = vario_control_lowpass[2];
-    controlVector[3] = vario_control_lowpass[3];
 
     // check if movement is desired
     if (normalizeDeadband(controlVector) == false) {
diff --git a/flight/modules/Stabilization/stabilization.c b/flight/modules/Stabilization/stabilization.c
index d83bced93..efe727d33 100644
--- a/flight/modules/Stabilization/stabilization.c
+++ b/flight/modules/Stabilization/stabilization.c
@@ -102,7 +102,6 @@ int32_t StabilizationInitialize()
     StabilizationSettingsBank3Initialize();
     RateDesiredInitialize();
     ManualControlCommandInitialize(); // only used for PID bank selection based on flight mode switch
-    // Code required for relay tuning
     sin_lookup_initalize();
 
     stabilizationOuterloopInit();
diff --git a/shared/uavobjectdefinition/flightmodesettings.xml b/shared/uavobjectdefinition/flightmodesettings.xml
index f72f7a987..67e6e47a1 100644
--- a/shared/uavobjectdefinition/flightmodesettings.xml
+++ b/shared/uavobjectdefinition/flightmodesettings.xml
@@ -111,10 +111,8 @@
 	<field name="DisableSanityChecks" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
         <field name="ReturnToBaseAltitudeOffset" units="m" type="float" elements="1" defaultvalue="10"/>
         <field name="LandingVelocity" units="m" type="float" elements="1" defaultvalue="0.4"/>
-        <field name="PositionHoldOffset" units="m" type="float" elementnames="Horizontal,Vertical" defaultvalue="10,2"/>
-	<!-- optimized for current vtolpathfollower,
-	     for fixed wing pathfollower set to Horizontal=500,Vertical=5 -->
-	<field name="VarioControlLowPassAlpha" units="" type="float" elements="1" defaultvalue="0.9"/>
+        <field name="PositionHoldOffset" units="m" type="float" elementnames="Horizontal,Vertical" defaultvalue="30,15" description="stick sensitivity for position roam modes"/>
+	<field name="VarioControlLowPassAlpha" units="" type="float" elements="1" defaultvalue="0.98" description="stick low pass filter for position roam modes"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>
diff --git a/shared/uavobjectdefinition/vtolpathfollowersettings.xml b/shared/uavobjectdefinition/vtolpathfollowersettings.xml
index e17f20792..82277f320 100644
--- a/shared/uavobjectdefinition/vtolpathfollowersettings.xml
+++ b/shared/uavobjectdefinition/vtolpathfollowersettings.xml
@@ -2,8 +2,8 @@
     <object name="VtolPathFollowerSettings" singleinstance="true" settings="true" category="Control">
         <description>Settings for the @ref VtolPathFollowerModule</description>
 	<field name="TreatCustomCraftAs" units="switch" type="enum" elements="1" options="FixedWing,VTOL" defaultvalue="FixedWing"/>
-        <field name="HorizontalVelMax" units="m/s" type="float" elements="1" defaultvalue="5.0"/>
-        <field name="VerticalVelMax" units="m/s" type="float" elements="1" defaultvalue="1.0"/>
+        <field name="HorizontalVelMax" units="m/s" type="float" elements="1" defaultvalue="10.0" description="maximum allowed horizontal movement velocity"/>
+        <field name="VerticalVelMax" units="m/s" type="float" elements="1" defaultvalue="4.0" description="maximum allowed climb/dive velocity"/>
         <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"/>