diff --git a/application/chassis/balance.c b/application/chassis/balance.c
index d58294c..cbba77b 100644
--- a/application/chassis/balance.c
+++ b/application/chassis/balance.c
@@ -28,10 +28,10 @@
 #define STOOL_YAW_RATE_REF 3.5f
 #define STOOL_ACC_REF 4.0f
 #define STOOL_BRAKE_ACC_REF 8.0f
-#define STOOL_PITCH_K 30.0f
-#define STOOL_PITCH_W_K 8.5f
-#define STOOL_VEL_K 4.5f
-#define STOOL_STOP_DIST_K 2.0f
+#define STOOL_PITCH_K 24.0f
+#define STOOL_PITCH_W_K 6.8f
+#define STOOL_VEL_K 3.2f
+#define STOOL_STOP_DIST_K 1.2f
 #define STOOL_VEL_LPF_RC 0.03f
 #define STOOL_WHEEL_TORQUE_LIMIT 25.0f
 #define STOOL_RC_DEADBAND 40