POS_XY_P (shown as “Loiter PID P” at the top right of the screen shot above) convert the horizontal position error (i.e difference between the desired position and the actual position) to a desired speed towards the target position. It is generally not required to adjust this.
VEL_XY_P (shown as “Rate Loiter P, I and D”) convert the desired speed towards the target to a desired acceleration. The resulting desired acceleration becomes a lean angle which is then passed to the same angular controller used by Stabilize mode. It is generally not required to adjust this.
it looks that "D" param is removed from params. Or you can see it ?