diff --git a/param/cobalt_sim.yaml b/param/cobalt_sim.yaml
index 0c1ea79..f571f8d 100644
--- a/param/cobalt_sim.yaml
+++ b/param/cobalt_sim.yaml
@@ -9,31 +9,31 @@ control:
     proportional:
         x: 1.0
         y: 1.0
-        z: 2.0
-        psi: 2.0  #roll
-        phi: 2.0  #pitch
-        theta: 0.07 #yaw
+        z: 3.0
+        psi: 0.24  #roll
+        phi: 0.24  #pitch
+        theta: 0.08 #yaw
     integral:
         x: 0.0
         y: 0.0
-        z: 0.1
-        psi: 1.0
-        phi: 1.0
-        theta: 0.1
+        z: 0.0
+        psi: 0.37
+        phi: 0.33
+        theta: 0.0
     derivative:
         x: 0.0
         y: 0.0
         z: 1.0
-        psi: 2.0
-        phi: 2.0
-        theta: 0.25
+        psi: 0.5
+        phi: 0.5
+        theta: 0.14
     windup:
-        x: 5.0
-        y: 5.0
+        x: 0.0
+        y: 0.0
         z: 0.1
-        psi: 10.0
-        phi: 10.0
-        theta: 0.1
+        psi: 50.0
+        phi: 50.0
+        theta: 0.0
     hysteresis:
         x: 0.0
         y: 0.0