diff --git a/shared/uavobjectdefinition/inssettings.xml b/shared/uavobjectdefinition/inssettings.xml
index ffc79c5e5..340ecf9a1 100644
--- a/shared/uavobjectdefinition/inssettings.xml
+++ b/shared/uavobjectdefinition/inssettings.xml
@@ -7,10 +7,10 @@
 	<!-- Sensor noises -->
         <field name="accel_bias" units="m/s" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
         <field name="accel_scale" units="gain" type="float" elementnames="X,Y,Z" defaultvalue="1,1,1"/>
-        <field name="accel_var" units="(m/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="5e-4"/>
+        <field name="accel_var" units="(m/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="1"/>
         <field name="gyro_bias" units="deg/s" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
-        <field name="gyro_scale" units="gain" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
-        <field name="gyro_var" units="(deg/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="1e-4"/>
+        <field name="gyro_scale" units="gain" type="float" elementnames="X,Y,Z" defaultvalue="1,1,1"/>
+        <field name="gyro_var" units="(deg/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="1"/>
         <field name="mag_bias" units="mGau" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
         <field name="mag_scale" units="gain" type="float" elementnames="X,Y,Z" defaultvalue="1"/>
         <field name="mag_var" units="mGau^2" type="float" elementnames="X,Y,Z" defaultvalue="50"/>