diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4030_gz_tiltrotor b/ROMFS/px4fmu_common/init.d-posix/airframes/4030_gz_tiltrotor
index 060399be7690..06ec1add6b19 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4030_gz_tiltrotor
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4030_gz_tiltrotor
@@ -7,6 +7,17 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=tiltrotor}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
+
 param set-default MAV_TYPE 21
 
 param set-default CA_AIRFRAME 3
@@ -27,6 +38,15 @@ param set-default CA_ROTOR3_KM -0.05
 
 param set-default CA_ROTOR0_TILT 1
 param set-default CA_ROTOR2_TILT 2
+param set-default CA_SV_TL0_MAXA 90
+param set-default CA_SV_TL0_MINA 0
+param set-default CA_SV_TL0_TD 0
+param set-default CA_SV_TL0_CT 1
+param set-default CA_SV_TL1_MAXA 90
+param set-default CA_SV_TL1_MINA 0
+param set-default CA_SV_TL1_TD 0
+param set-default CA_SV_TL1_CT 1
+
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
@@ -36,15 +56,26 @@ param set-default CA_SV_CS2_TYPE 3
 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_TL_COUNT 2
 
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 204
-param set-default PWM_MAIN_FUNC6 205
-param set-default PWM_MAIN_FUNC7 201
-param set-default PWM_MAIN_FUNC8 202
-param set-default PWM_MAIN_FUNC9 203
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_FUNC4 104
+
+param set-default SIM_GZ_EC_MIN1 10
+param set-default SIM_GZ_EC_MIN2 10
+param set-default SIM_GZ_EC_MIN3 10
+param set-default SIM_GZ_EC_MIN4 10
+
+param set-default SIM_GZ_EC_MAX1 1500
+param set-default SIM_GZ_EC_MAX2 1500
+param set-default SIM_GZ_EC_MAX3 1500
+param set-default SIM_GZ_EC_MAX4 1500
+
+param set-default SIM_GZ_SV_FUNC1 201
+param set-default SIM_GZ_SV_FUNC2 202
+param set-default SIM_GZ_SV_FUNC3 203
+param set-default SIM_GZ_SV_FUNC4 204
+param set-default SIM_GZ_SV_FUNC5 205
 
 param set-default NPFG_PERIOD 12
 param set-default FW_PR_FF 0.2
@@ -61,8 +92,8 @@ param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
 
 param set-default MC_AIRMODE 1
-param set-default MC_YAWRATE_P 0.3
-param set-default MC_YAWRATE_I 0.3
+param set-default MC_YAWRATE_P 0.4
+param set-default MC_YAWRATE_I 0.1
 
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_XY_VEL_I_ACC 4