diff --git a/external_modules/src/modules/rl_tools_commander/RLtoolsCommander.cpp b/external_modules/src/modules/rl_tools_commander/RLtoolsCommander.cpp
index b957e68..5617fa7 100644
--- a/external_modules/src/modules/rl_tools_commander/RLtoolsCommander.cpp
+++ b/external_modules/src/modules/rl_tools_commander/RLtoolsCommander.cpp
@@ -20,6 +20,7 @@ RLtoolsCommander::RLtoolsCommander() : ModuleParams(nullptr), ScheduledWorkItem(
 	overwrite = false;
 	mode = DEFAULT_MODE;
 	trajectory.initialized = false;
+	parameters_update();
 }
 
 RLtoolsCommander::~RLtoolsCommander(){
@@ -37,6 +38,54 @@ bool RLtoolsCommander::init()
 	return true;
 }
 
+void RLtoolsCommander::parameters_update()
+{
+	// check for parameter updates
+	if (_parameter_update_sub.updated())
+	{
+		parameter_update_s param_update;
+		_parameter_update_sub.copy(&param_update);
+		ModuleParams::updateParams();
+		_xy_vel_i_acc = _param_mpc_xy_vel_i_acc.get() > 0.0f ? _param_mpc_xy_vel_i_acc.get() : _xy_vel_i_acc;
+		_z_vel_i_acc = _param_mpc_z_vel_i_acc.get() > 0.0f ? _param_mpc_z_vel_i_acc.get() : _z_vel_i_acc;
+		_rollrate_i = _param_mc_rollrate_i.get() > 0.0f ? _param_mc_rollrate_i.get() : _rollrate_i;
+		_pitchrate_i = _param_mc_pitchrate_i.get() > 0.0f ? _param_mc_pitchrate_i.get() : _pitchrate_i;
+		_yawrate_i = _param_mc_yawrate_i.get() > 0.0f ? _param_mc_yawrate_i.get() : _yawrate_i;
+	}
+}
+
+void RLtoolsCommander::toggle_integral_gain(bool use_model)
+{
+	if (use_model)
+	{
+		_param_mpc_xy_vel_i_acc.set(0.0f);
+		_param_mpc_xy_vel_i_acc.commit();
+		_param_mpc_z_vel_i_acc.set(0.0f);
+		_param_mpc_z_vel_i_acc.commit();
+		_param_mc_rollrate_i.set(0.0f);
+		_param_mc_rollrate_i.commit();
+		_param_mc_pitchrate_i.set(0.0f);
+		_param_mc_pitchrate_i.commit();
+		_param_mc_yawrate_i.set(0.0f);
+		_param_mc_yawrate_i.commit();
+		PX4_INFO("Integral gain removed");
+	}
+	else
+	{
+		_param_mpc_xy_vel_i_acc.set(_xy_vel_i_acc);
+		_param_mpc_xy_vel_i_acc.commit();
+		_param_mpc_z_vel_i_acc.set(_z_vel_i_acc);
+		_param_mpc_z_vel_i_acc.commit();
+		_param_mc_rollrate_i.set(_rollrate_i);
+		_param_mc_rollrate_i.commit();
+		_param_mc_pitchrate_i.set(_pitchrate_i);
+		_param_mc_pitchrate_i.commit();
+		_param_mc_yawrate_i.set(_yawrate_i);
+		_param_mc_yawrate_i.commit();
+		PX4_INFO("Integral gain restored");
+	}
+}
+
 void RLtoolsCommander::FigureEight::update(hrt_abstime now){
 	if(!initialized){
 		reset(now);
@@ -62,6 +111,7 @@ void RLtoolsCommander::FigureEight::update(hrt_abstime now){
 void RLtoolsCommander::Run()
 {
 	if (should_exit()) {
+		toggle_integral_gain(false);
 		_vehicle_local_position_sub.unregisterCallback();
 		ScheduleClear();
 		exit_and_cleanup();
@@ -73,6 +123,8 @@ void RLtoolsCommander::Run()
 	bool prev_command_active = command_active;
 	bool next_command_active = command_active;
 
+	parameters_update();
+
 	{
 		manual_control_setpoint_s manual_control_input;
 		if(_manual_control_input_sub.update(&manual_control_input)) {
@@ -145,6 +197,7 @@ void RLtoolsCommander::Run()
 		else{
 			PX4_INFO("Command disabled");
 		}
+		toggle_integral_gain(next_command_active);
 	}
 
 	command_active = next_command_active;
diff --git a/external_modules/src/modules/rl_tools_commander/RLtoolsCommander.hpp b/external_modules/src/modules/rl_tools_commander/RLtoolsCommander.hpp
index a02bbcb..34849bd 100644
--- a/external_modules/src/modules/rl_tools_commander/RLtoolsCommander.hpp
+++ b/external_modules/src/modules/rl_tools_commander/RLtoolsCommander.hpp
@@ -13,6 +13,7 @@
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionCallback.hpp>
 #include <uORB/topics/rl_tools_command.h>
+#include <uORB/topics/parameter_update.h>
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/tune_control.h>
@@ -73,8 +74,10 @@ class RLtoolsCommander : public ModuleBase<RLtoolsCommander>, public ModuleParam
 		STEP_RESPONSE = 2
 	};
 
-
+	void parameters_update();
+	void toggle_integral_gain(bool use_model);
 	
+	uORB::SubscriptionInterval _parameter_update_sub{ ORB_ID(parameter_update), 1_s };
 	uORB::Subscription _manual_control_input_sub{ORB_ID(manual_control_input)};
 	uORB::SubscriptionCallbackWorkItem _vehicle_local_position_sub{this, ORB_ID(vehicle_local_position)};
 	uORB::SubscriptionCallbackWorkItem _vehicle_attitude_sub{this, ORB_ID(vehicle_attitude)};
@@ -104,4 +107,19 @@ class RLtoolsCommander : public ModuleBase<RLtoolsCommander>, public ModuleParam
 	float step_response_offset[3] = {1, 0, 0};
 
 	perf_counter_t	_loop_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};
+
+	// integral gain parameters
+	float _xy_vel_i_acc = 0.0f;
+	float _z_vel_i_acc = 0.0f;
+	float _rollrate_i = 0.0f;
+	float _pitchrate_i = 0.0f;
+	float _yawrate_i = 0.0f;
+
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::MPC_XY_VEL_I_ACC>)_param_mpc_xy_vel_i_acc,
+		(ParamFloat<px4::params::MPC_Z_VEL_I_ACC>)_param_mpc_z_vel_i_acc,
+		(ParamFloat<px4::params::MC_ROLLRATE_I>)_param_mc_rollrate_i,
+		(ParamFloat<px4::params::MC_PITCHRATE_I>)_param_mc_pitchrate_i,
+		(ParamFloat<px4::params::MC_YAWRATE_I>)_param_mc_yawrate_i
+	)
 };