diff --git a/parameters_bravo.txt b/parameters_bravo.txt
index cccf780..eb567c9 100644
--- a/parameters_bravo.txt
+++ b/parameters_bravo.txt
@@ -20,9 +20,9 @@
 42	200	DEBUG_4	0
 42	200	DEBUG_5	0
 42	200	DEBUG_6	0
-42	200	GYRO_OFFSET_X	29868
+42	200	GYRO_OFFSET_X	29830
 42	200	GYRO_OFFSET_Y	29990
-42	200	GYRO_OFFSET_Z	29453
+42	200	GYRO_OFFSET_Z	29440
 42	200	MIX_OFFSET	0
 42	200	MIX_POSITION	0
 42	200	MIX_POS_YAW	0
@@ -49,12 +49,12 @@
 42	200	PID_YAWSPEED_I	10
 42	200	PID_YAWSPEED_P	30
 42	200	PID_YAWSPE_AWU	1
-42	200	POS_SP_ACCEPT	0
+42	200	POS_SP_ACCEPT	1
 42	200	POS_SP_X	1.1
 42	200	POS_SP_Y	1.1
 42	200	POS_SP_YAW	0
 42	200	POS_SP_Z	-0.8
-42	200	POS_TIMEOUT	2e+06
+42	200	POS_TIMEOUT	500000
 42	200	RC_NICK_CHAN	1
 42	200	RC_ROLL_CHAN	2
 42	200	RC_SAFETY_CHAN	5
@@ -66,7 +66,7 @@
 42	200	RC_TUNE_CHAN4	8
 42	200	RC_YAW_CHAN	4
 42	200	SEND_DEBUGCHAN	0
-42	200	SLOT_ATTITUDE	1
+42	200	SLOT_ATTITUDE	0
 42	200	SLOT_CONTROL	0
 42	200	SLOT_RAW_IMU	1
 42	200	SLOT_RC	0