diff --git a/main.lua b/main.lua
index 21df886..6ea0d3e 100644
--- a/main.lua
+++ b/main.lua
@@ -869,18 +869,18 @@ end
 PIDs = {
 -- angular
     -- attitude PIDs
-    RollAttitudePID = CreatePID(3.8, 0.01, 0.05),
-    PitchAttitudePID = CreatePID(3.8, 0.01, 0.05),
+    RollAttitudePID = CreatePID(4.5, 0.01, 0.05),
+    PitchAttitudePID = CreatePID(4.5, 0.01, 0.05),
     YawAttitudePID = CreatePID(0.1, 0.01, 0.05),
 
     -- rate PIDs
-    RollRatePID = CreatePID(1.0, 0.01, 0.05),
-    PitchRatePID = CreatePID(1.0, 0.01, 0.05),
+    RollRatePID = CreatePID(1.2, 0.01, 0.05),
+    PitchRatePID = CreatePID(1.2, 0.01, 0.05),
     YawRatePID = CreatePID(0.5, 0.01, 0.05),
 
 -- lateral
     -- value PIDs
-    AltitudePID = CreatePID(0.5, 0.01, 0.05),
+    AltitudePID = CreatePID(0.6, 0.01, 0.05),
     PortStarPID = CreatePID(0.1, 0.01, 0.05),
     ForeAftPID  = CreatePID(0.1, 0.01, 0.05),