diff --git a/main.lua b/main.lua
index d73b07c..815e8ba 100644
--- a/main.lua
+++ b/main.lua
@@ -898,13 +898,13 @@ end
 PIDs = {
 -- angular
     -- attitude PIDs
-    RollAttitudePID = CreatePID(4.5, 0.01, 0.05),
-    PitchAttitudePID = CreatePID(4.5, 0.01, 0.05),
+    RollAttitudePID = CreatePID(3.0, 0.01, 0.05),
+    PitchAttitudePID = CreatePID(3.0, 0.01, 0.05),
     YawAttitudePID = CreatePID(0.1, 0.01, 0.05),
 
     -- rate PIDs
-    RollRatePID = CreatePID(1.2, 0.01, 0.05),
-    PitchRatePID = CreatePID(1.2, 0.01, 0.05),
+    RollRatePID = CreatePID(0.8, 0.01, 0.05),
+    PitchRatePID = CreatePID(0.8, 0.01, 0.05),
     YawRatePID = CreatePID(0.5, 0.01, 0.05),
 
 -- lateral
@@ -914,7 +914,7 @@ PIDs = {
     ForeAftPID  = CreatePID(0.1, 0.01, 0.05),
 
     -- rate PIDs
-    VerticalRatePID = CreatePID(1.2, 0.01, 0.05),
+    VerticalRatePID = CreatePID(0.8, 0.01, 0.05),
     PortStarRatePID = CreatePID(0.1, 0.01, 0.05),
     ForeAftRatePID  = CreatePID(0.1, 0.01, 0.05)
 }