diff --git a/parameters_alpha.txt b/parameters_alpha.txt
index 10113f42f3827cf4ba0cde891fc6a28796e5daa0..e5134d1a89a0885db312ec0a6571daddb04a52c8 100644
--- a/parameters_alpha.txt
+++ b/parameters_alpha.txt
@@ -1,6 +1,7 @@
 # Onboard parameters for system MAV 042
 #
 # MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)
+42	200	ACC_NAV_OFFS_X	0
 42	200	ACC_NAV_OFFS_Y	0
 42	200	ACC_NAV_OFFS_Z	-1000
 42	200	ACC_OFFSET_X	0
@@ -45,7 +46,7 @@
 42	200	PID_YAWPOS_AWU	1
 42	200	PID_YAWPOS_D	1
 42	200	PID_YAWPOS_I	0.1
-42	200	PID_YAWPOS_LIM	3
+42	200	PID_YAWPOS_LIM	2
 42	200	PID_YAWPOS_P	5
 42	200	PID_YAWSPEED_D	0
 42	200	PID_YAWSPEED_I	5