diff --git a/parameters_alpha.txt b/parameters_alpha.txt
index 949fd543c351efbf1af98b6c8558935529b031a2..e883721affd3a92959b2bbc8dbc9eb08cb8cee0f 100644
--- a/parameters_alpha.txt
+++ b/parameters_alpha.txt
@@ -23,10 +23,10 @@
 42	200	GYRO_OFFSET_X	29760
 42	200	GYRO_OFFSET_Y	29860
 42	200	GYRO_OFFSET_Z	29877
-42	200	MIX_OFFSET	0
+42	200	MIX_OFFSET	1
 42	200	MIX_POSITION	0
 42	200	MIX_POS_YAW	0
-42	200	MIX_REMOTE	0
+42	200	MIX_REMOTE	1
 42	200	MIX_Z_POSITION	0
 42	200	PID_ATT_AWU	0.3
 42	200	PID_ATT_D	30
@@ -50,11 +50,11 @@
 42	200	PID_YAWSPEED_P	30
 42	200	PID_YAWSPE_AWU	1
 42	200	POS_SP_ACCEPT	1
-42	200	POS_SP_X	3.7
-42	200	POS_SP_Y	0.3
+42	200	POS_SP_X	1.75
+42	200	POS_SP_Y	0.5
 42	200	POS_SP_YAW	0
 42	200	POS_SP_Z	0
-42	200	POS_TIMEOUT	2e+06
+42	200	POS_TIMEOUT	1e+06
 42	200	RC_NICK_CHAN	1
 42	200	RC_ROLL_CHAN	2
 42	200	RC_SAFETY_CHAN	5
diff --git a/waypoints_A0_circlev2.txt b/waypoints_A0_circlev2.txt
index d5061ed0bf271ca9241482ec186abe7787502ff7..1d366e188d11deeec176b5e3cdd17b08785ae7b8 100644
--- a/waypoints_A0_circlev2.txt
+++ b/waypoints_A0_circlev2.txt
@@ -1,9 +1,9 @@
-	0	1.75	0.5	-0.7	0	1	0	0.3	10000
+	0	1.75	0.5	-0.7	0	1	1	0.3	10000
 	1	0.95	0.5	-0.7	0	1	0	0.3	2000
 	2	0.5	1.5	-0.7	0	1	0	0.3	2000
 	3	0.5	2.8	-0.7	0	1	0	0.3	2000
 	4	1.75	2.8	-0.7	0	1	0	0.3	2000
-	5	2.8	2.8	-0.7	0	1	1	0.3	2000
+	5	2.8	2.8	-0.7	0	1	0	0.3	2000
 	6	2.8	1.75	-0.7	0	1	0	0.3	2000
 	7	2.8	0.7	-0.7	0	1	0	0.3	2000
 	8	1.75	0.5	-0.7	0	1	0	0.3	2000