diff --git a/parameters_bravo.txt b/parameters_bravo.txt
index 58bb861b97da81ca4aa7e99137fc3cd1ddee93cd..6f4eceecbff60c474dd2c88bb9e9c76e49b99c85 100644
--- a/parameters_bravo.txt
+++ b/parameters_bravo.txt
@@ -23,15 +23,15 @@
 42	200	GYRO_OFFSET_X	29830
 42	200	GYRO_OFFSET_Y	29990
 42	200	GYRO_OFFSET_Z	29440
-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	20
-42	200	PID_ATT_I	40
-42	200	PID_ATT_P	60
+42	200	PID_ATT_D	10
+42	200	PID_ATT_I	10
+42	200	PID_ATT_P	40
 42	200	PID_POS_AWU	5
 42	200	PID_POS_D	2
 42	200	PID_POS_I	0.25
@@ -40,7 +40,7 @@
 42	200	PID_POS_Z_D	0.2
 42	200	PID_POS_Z_I	0.2
 42	200	PID_POS_Z_LIM	0.3
-42	200	PID_POS_Z_P	0.5
+42	200	PID_POS_Z_P	0.3
 42	200	PID_YAWPOS_AWU	1
 42	200	PID_YAWPOS_D	1
 42	200	PID_YAWPOS_I	0.1
@@ -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_X	3.7
-42	200	POS_SP_Y	0.3
+42	200	POS_SP_ACCEPT	1
+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	-0.8
-42	200	POS_TIMEOUT	500000
+42	200	POS_SP_Z	-0.7
+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_circle.txt b/waypoints_A0_circle.txt
index 776ec04deac9a3d22d4d79f55db31e2d6f603348..433e05d9218e7ae1aed37a90724d26d60ac7a9ff 100644
--- a/waypoints_A0_circle.txt
+++ b/waypoints_A0_circle.txt
@@ -1,11 +1,11 @@
-	0	1.75	0.5	-0.8	0	0	1	0.1	2000
-	1	1.75	0.5	-0.8	0	1	0	0.1	2000
-	2	0.6	0.5	-0.8	0	0	0	0.1	2000
-	3	0.5	1.5	-0.8	0	1	0	0.1	2000
-	4	0.5	2.8	-0.8	0	1	0	0.1	2000
-	5	1.75	2.8	-0.8	0	1	0	0.1	2000
-	6	2.8	2.8	-0.8	0	1	0	0.1	2000
-	7	2.8	1.75	-0.8	0	1	0	0.1	2000
-	8	2.8	0.5	-0.8	0	1	0	0.1	2000
-	9	1.75	0.5	-0.8	0	1	0	0.1	2000
-	10	1.75	0.5	0	0	1	0	0.1	2000
+	0	1.75	0.5	-0.7	0	1	0	0.3	1000
+	1	1.75	0.5	-0.7	0	1	0	0.3	1000
+	2	0.95	0.5	-0.7	0	1	0	0.3	1000
+	3	0.5	1.5	-0.7	0	1	1	0.3	1000
+	4	0.5	2.8	-0.7	0	1	0	0.3	1000
+	5	1.75	2.8	-0.7	0	1	0	0.3	1000
+	6	3	2.8	-0.7	0	1	0	0.3	1000
+	7	2.8	1.75	-0.7	0	1	0	0.3	1000
+	8	2.8	0.7	-0.7	0	1	0	0.3	1000
+	9	1.75	0.5	-0.7	0	1	0	0.3	1000
+	10	1.75	0.5	0	0	0	0	0.3	1000
diff --git a/waypoints_A0_circlev2.txt b/waypoints_A0_circlev2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d5061ed0bf271ca9241482ec186abe7787502ff7
--- /dev/null
+++ b/waypoints_A0_circlev2.txt
@@ -0,0 +1,10 @@
+	0	1.75	0.5	-0.7	0	1	0	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
+	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
+	9	1.75	0.5	0	0	0	0	0.3	2000