diff --git a/conf/settings/tuning_analog_imu.xml b/conf/settings/tuning_analog_imu.xml
index df7bfafe91..d3e59a1b1e 100644
--- a/conf/settings/tuning_analog_imu.xml
+++ b/conf/settings/tuning_analog_imu.xml
@@ -30,30 +30,13 @@
     </dl_settings>
 
     <dl_settings NAME="control">
-      <!--<dl_settings NAME="ir">
-        <dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="ir_roll_neutral" shortname="roll_neutral" param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad"/>
-        <dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ir_pitch_neutral" shortname="pitch_neutral" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad"/>
-
-        <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="ir_lateral_correction" shortname="360_lat_corr" module="infrared" param="IR_LATERAL_CORRECTION"/>
-        <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="ir_longitudinal_correction" shortname="360_log_corr" param="IR_LONGITUDINAL_CORRECTION"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_vertical_correction" shortname="360_vert_corr" param="IR_VERTICAL_CORRECTION"/>
-
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_left" shortname="corr_left" param="IR_CORRECTION_LEFT"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_right" shortname="corr_right" param="IR_CORRECTION_RIGHT"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_up" shortname="corr_up" param="IR_CORRECTION_UP"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_down" shortname="corr_down" param="IR_CORRECTION_DOWN"/>
-
-      </dl_settings>-->
 
       <dl_settings NAME="IMU">
         <dl_setting MAX="45" MIN="-45" STEP="0.1" VAR="imu_roll_neutral" shortname="roll neutral" module="subsystems/ahrs/ahrs_float_dcm" param="IMU_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
         <dl_setting MAX="45" MIN="-45" STEP="0.1" VAR="imu_pitch_neutral" shortname="pitch neutral" module="subsystems/ahrs/ahrs_float_dcm" param="IMU_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
-
       </dl_settings>
 
 
-
-
       <dl_settings NAME="attitude">
         <dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
         <dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT"/>
diff --git a/conf/settings/tuning_ins.xml b/conf/settings/tuning_ins.xml
index f8f1cfee58..765dd2a6f5 100644
--- a/conf/settings/tuning_ins.xml
+++ b/conf/settings/tuning_ins.xml
@@ -30,6 +30,7 @@
     </dl_settings>
 
     <dl_settings NAME="control">
+
       <dl_settings NAME="ins">
         <dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="ins_roll_neutral" shortname="roll_neutral" param="INS_ROLL_NEUTRAL_DEFAULT" unit="rad"/>
         <dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ins_pitch_neutral" shortname="pitch_neutral" param="INS_PITCH_NEUTRAL_DEFAULT" unit="rad"/>
@@ -79,8 +80,8 @@
 
       <dl_settings name="nav">
         <dl_setting MAX="-0.1" MIN="-3" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain" param="H_CTL_COURSE_PGAIN"/>
-        <dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain"/>
-        <dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor"/>
+        <dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain" param="H_CTL_COURSE_DGAIN"/>
+        <dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor" param="H_CTL_COURSE_PRE_BANK_CORRECTION"/>
         <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim" shortname="glide pitch trim" param="NAV_GLIDE_PITCH_TRIM"/>
         <dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
         <dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>