diff --git a/shared/uavobjectdefinition/attitudesettings.xml b/shared/uavobjectdefinition/attitudesettings.xml
index e45ec747d..82540609a 100644
--- a/shared/uavobjectdefinition/attitudesettings.xml
+++ b/shared/uavobjectdefinition/attitudesettings.xml
@@ -5,8 +5,8 @@
         <field name="BoardLevelTrim" units="deg" type="float" elementnames="Roll,Pitch" defaultvalue="0,0"/>
         <field name="AccelKp" units="channel" type="float" elements="1" defaultvalue="0.05"/>
         <field name="AccelKi" units="channel" type="float" elements="1" defaultvalue="0.0001"/>
-        <field name="MagKi" units="" type="float" elements="1" defaultvalue="0.000001"/>
-        <field name="MagKp" units="" type="float" elements="1" defaultvalue="0.01"/>
+        <field name="MagKi" units="" type="float" elements="1" defaultvalue="0.00005"/>
+        <field name="MagKp" units="" type="float" elements="1" defaultvalue="1.0"/>
         <field name="AccelTau" units="" type="float" elements="1" defaultvalue="0.05"/>
         <field name="YawBiasRate" units="channel" type="float" elements="1" defaultvalue="0.000001"/>
         <field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="False,True" defaultvalue="True"/>