diff --git a/src/pid.c b/src/pid.c
index 273409d6..75e81779 100644
--- a/src/pid.c
+++ b/src/pid.c
@@ -27,11 +27,11 @@ void pid_init(hal_pid_t *pid){
     //pid->command = 0;	  /* pin: commanded value */
     //pid->commandvds = 0;  /* pin: commanded derivative dummysig */
     pid->commandv = 0;    /* pin: commanded derivative value */
-		pid->commanda = 0;    /* pin: commandedv derivative value */
+	pid->commanda = 0;    /* pin: commandedv derivative value */
     //pid->feedback = 0;    /* pin: feedback value */
     //pid->feedbackvds = 0; /* pin: feedback derivative dummysig */
     pid->feedbackv = 0;   /* pin: feedback derivative value */
-		pid->feedbacka = 0;   /* pin: feedbackv derivative value */
+	pid->feedbacka = 0;   /* pin: feedbackv derivative value */
     pid->error = 0;       /* pin: command - feedback */
     pid->deadband = 0;    /* pin: deadband */
     pid->maxerror = 0;    /* pin: limit for error */
@@ -49,13 +49,13 @@ void pid_init(hal_pid_t *pid){
     pid->cmd_d = 0;       /* opt. pin: differentiated command */
     pid->cmd_dd = 0;      /* opt. pin: 2nd derivative of command */
     pid->bias = 0;        /* param: steady state offset */
-    pid->pgain = 4;       /* pin: proportional gain */
-    pid->igain = 0.02;       /* pin: integral gain */
-    pid->dgain = 0.01;       /* pin: derivative gain */
+    pid->pgain = 2;       /* pin: proportional gain */
+    pid->igain = 0.04;       /* pin: integral gain */
+    pid->dgain = 0.015;       /* pin: derivative gain */
     pid->bgain = 0.0;       /* pin: derivative gain */
         // pid->ff0gain = 0;      /* pin: feedforward proportional */
-    pid->ff1gain = 0.006;     /* pin: feedforward derivative */
-    pid->ff2gain = 0.00015;     /* pin: feedforward 2nd derivative */
+    pid->ff1gain = 0.005;     /* pin: feedforward derivative */
+    pid->ff2gain = 0.00005;     /* pin: feedforward 2nd derivative */
     pid->maxoutput = 1;   /* pin: limit for PID output */
     pid->output = 0;      /* pin: the output value */
     pid->saturated = 0;   /* pin: TRUE when the output is saturated */