diff --git a/pluto_control/swarm.py b/pluto_control/swarm.py
index 23d9004..1e1d5d3 100644
--- a/pluto_control/swarm.py
+++ b/pluto_control/swarm.py
@@ -40,8 +40,8 @@ def run_drone2(point_list):
         queue1=q2,
         queue2=q1,
         pose_port=8000,
-        kp=[3.5, 3.5, 2.7],
-        kd=[4.3, 4.3, 2.15],
+        kp=[3, 3, 2.7],
+        kd=[3.75, 3.75, 2.15],
         ki=[0.05, 0.05, 1.1],
         eqb_thrust=1550,
         IP=drone2_ip,
@@ -64,19 +64,19 @@ def run_drone2(point_list):
 
 
 drone1_points = [
-    [-40, -40, 80],
-    [40, -40, 80],
-    [40, 40, 80],
-    [-40, 40, 80],
-    [-40, -40, 80],
+    [-40, -40, 60],
+    [40, -40, 60],
+    [40, 40, 60],
+    [-40, 40, 60],
+    [-40, -40, 60],
 ]
 drone2_points = [
-    [-40, 40, 80],
-    [-40, -40, 80],
-    [40, -40, 80],
-    [40, 40, 80],
-    [-40, 40, 80],
-    [-40, -40, 80],
+    [-40, 40, 60],
+    [-40, -40, 60],
+    [40, -40, 60],
+    [40, 40, 60],
+    [-40, 40, 60],
+    [-40, -40, 60],
 ]
 
 if __name__ == "__main__":
diff --git a/pose_ocam/src/main.cpp b/pose_ocam/src/main.cpp
index b13afa6..52e251c 100644
--- a/pose_ocam/src/main.cpp
+++ b/pose_ocam/src/main.cpp
@@ -170,7 +170,7 @@ void *image_thread(void *args)
     {
         printf("Current Exposure: %d\n", exposure);
         printf("Current Gain: %d\n", gain);
-        exposure = 100, gain = 83;
+        exposure = 100, gain = 133;
         camera.set_control("Gain", gain);
         camera.set_control("Exposure (Absolute)", exposure);
         printf("New Exposure: %d\n", exposure);