diff --git a/application/chassis/balance.c b/application/chassis/balance.c
index 7a02874..3ef761f 100644
--- a/application/chassis/balance.c
+++ b/application/chassis/balance.c
@@ -24,10 +24,10 @@
 #include "math.h"
 #include "string.h"
 
-#define STOOL_SPEED_REF 1.5f
-#define STOOL_YAW_RATE_REF 3.5f
-#define STOOL_ACC_REF 4.0f
-#define STOOL_BRAKE_ACC_REF 8.0f
+#define STOOL_SPEED_REF 1.8f
+#define STOOL_YAW_RATE_REF 2.4f
+#define STOOL_ACC_REF 6.5f
+#define STOOL_BRAKE_ACC_REF 16.0f
 #define STOOL_PITCH_K 50.0f
 #define STOOL_PITCH_W_K 12.5f
 #define STOOL_VEL_K 6.2f
@@ -343,7 +343,8 @@ static void ControlSwitch()
         return;
     }
 
-    if (switch_is_down(rc_data[TEMP].rc.switch_right))
+    uint8_t switch_right = rc_data[TEMP].rc.switch_right;
+    if (!switch_is_up(switch_right) && !switch_is_mid(switch_right))
         return;
 
     float chassis_vol = referee_data->PowerHeatData.chassis_voltage * 0.001f;