diff --git a/Tools/Frame_params/3DR_Iris+.param b/Tools/Frame_params/3DR_Iris+.param
index bc376cfeee..d6885d73c8 100644
--- a/Tools/Frame_params/3DR_Iris+.param
+++ b/Tools/Frame_params/3DR_Iris+.param
@@ -1,10 +1,10 @@
-#NOTE: 2014-09-10 Frame : 3DR IRIS+
+#NOTE: 2014-09-11 Frame : 3DR IRIS+
 ACRO_BAL_PITCH,1
 ACRO_BAL_ROLL,1
 ACRO_EXPO,0.3
 ACRO_RP_P,4.5
 ACRO_TRAINER,2
-ACRO_YAW_P,4.5
+ACRO_YAW_P,3.0
 ANGLE_MAX,3000
 ATC_ACCEL_RP_MAX,108000
 ATC_ACCEL_Y_MAX,18000
@@ -67,7 +67,6 @@ RATE_YAW_D,0.004
 RATE_YAW_I,0.04
 RATE_YAW_IMAX,1000
 RATE_YAW_P,0.4
-RATE_YAW_P,0.4
 RC_FEEL_RP,25
 RC9_FUNCTION,7
 RC9_MAX,1520
@@ -79,19 +78,19 @@ STB_PIT_P,11.25
 STB_RLL_P,11.25
 STB_YAW_P,6
 THR_ACCEL_D,0
-THR_ACCEL_I,1
-THR_ACCEL_IMAX,500
-THR_ACCEL_P,0.5
+THR_ACCEL_I,1.5
+THR_ACCEL_IMAX,800
+THR_ACCEL_P,0.75
 THR_ALT_P,1
 THR_DZ,50
 THR_MAX,1000
-THR_MID,580
+THR_MID,700
 THR_MIN,130
-THR_RATE_P,5
+THR_RATE_P,6
 WPNAV_ACCEL,250
 WPNAV_ACCEL_Z,100
 WPNAV_LOIT_JERK,1000
-WPNAV_LOIT_SPEED,1500
+WPNAV_LOIT_SPEED,1000
 WPNAV_RADIUS,200
 WPNAV_SPEED,1000
 WPNAV_SPEED_DN,150