diff --git a/parameters_alpha.txt b/parameters_alpha.txt
index 89ec4637d31edc36fce55ce6d7ad2cdb2de48248..4147ccfdef1563f02a0ba03b8d80efb11bc6bcf1 100644
--- a/parameters_alpha.txt
+++ b/parameters_alpha.txt
@@ -1,17 +1,32 @@
 # Onboard parameters for system MAV 042
 #
 # MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)
+42	1	POSFILTER	1
+42	1	PROTOCOLTIMEOUT¶	2e+06
+42	1	SETPOINTDELAY	1e+06
+42	1	YAWTOLERANCE	0.1745
+42	100	SYS_ID	42
+42	120	DOWN_PITCH	-0.025
+42	120	DOWN_ROLL	-0.01
+42	120	DOWN_X	0
+42	120	DOWN_Y	0
+42	120	DOWN_YAW	3.14159
+42	120	DOWN_Z	0
 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
-42	200	ACC_OFFSET_Y	0
-42	200	ACC_OFFSET_Z	0
 42	200	ATT_KAL_IYAW	1
 42	200	ATT_KAL_KACC	0.0033
 42	200	ATT_OFFSET_X	0
 42	200	ATT_OFFSET_Y	0
 42	200	ATT_OFFSET_Z	-0.08
+42	200	CAL_ACC_X	0
+42	200	CAL_ACC_Y	0
+42	200	CAL_ACC_Z	0
+42	200	CAL_GYRO_X	29760
+42	200	CAL_GYRO_Y	29860
+42	200	CAL_GYRO_Z	29877
+42	200	CAL_TEMP	40
 42	200	CAM_EXP	1000
 42	200	CAM_INTERVAL	36000
 42	200	DEBUG_1	0
@@ -20,45 +35,42 @@
 42	200	DEBUG_4	0
 42	200	DEBUG_5	0
 42	200	DEBUG_6	0
-42	200	GYRO_OFFSET_X	29760
-42	200	GYRO_OFFSET_Y	29860
-42	200	GYRO_OFFSET_Z	29877
-42	200	MIX_OFFSET	1
+42	200	MIX_OFFSET	0
 42	200	MIX_POSITION	0
 42	200	MIX_POS_YAW	0
-42	200	MIX_REMOTE	1
+42	200	MIX_REMOTE	0
 42	200	MIX_Z_POSITION	0
 42	200	PID_ATT_AWU	0.3
 42	200	PID_ATT_D	30
 42	200	PID_ATT_I	60
-42	200	PID_ATT_LIM	30
+42	200	PID_ATT_LIM	100
 42	200	PID_ATT_P	90
-42	200	PID_POS_AWU	5
+42	200	PID_POS_AWU	10
 42	200	PID_POS_D	2
-42	200	PID_POS_I	0.4
+42	200	PID_POS_I	0.3
 42	200	PID_POS_LIM	0.2
 42	200	PID_POS_P	1.8
 42	200	PID_POS_Z_AWU	3
 42	200	PID_POS_Z_D	0.2
-42	200	PID_POS_Z_I	0.4
+42	200	PID_POS_Z_I	0.3
 42	200	PID_POS_Z_LIM	0.3
 42	200	PID_POS_Z_P	0.5
 42	200	PID_YAWPOS_AWU	1
 42	200	PID_YAWPOS_D	1
 42	200	PID_YAWPOS_I	0.1
-42	200	PID_YAWPOS_LIM	2
+42	200	PID_YAWPOS_LIM	3
 42	200	PID_YAWPOS_P	5
 42	200	PID_YAWSPEED_D	0
 42	200	PID_YAWSPEED_I	5
 42	200	PID_YAWSPEED_P	15
 42	200	PID_YAWSPE_AWU	1
-42	200	PID_YAWSPE_LIM	20
+42	200	PID_YAWSPE_LIM	50
 42	200	POS_SP_ACCEPT	1
-42	200	POS_SP_X	1.75
-42	200	POS_SP_Y	0.48
-42	200	POS_SP_YAW	-1.67
+42	200	POS_SP_X	1.70917
+42	200	POS_SP_Y	0.479173
+42	200	POS_SP_YAW	1.5708
 42	200	POS_SP_Z	-0.7
-42	200	POS_TIMEOUT	1e+06
+42	200	POS_TIMEOUT	2e+06
 42	200	RC_NICK_CHAN	1
 42	200	RC_ROLL_CHAN	2
 42	200	RC_SAFETY_CHAN	5
@@ -77,7 +89,7 @@
 42	200	SYS_COMP_ID	200
 42	200	SYS_ID	42
 42	200	SYS_IMU_RESET	0
-42	200	SYS_SW_VER	2001
+42	200	SYS_SW_VER	2000
 42	200	SYS_TYPE	2
 42	200	UART_0_BAUD	115200
 42	200	UART_1_BAUD	57600