diff --git a/Tools/Frame_params/Iris.param b/Tools/Frame_params/Iris.param
index 7778119956..9536377f22 100644
--- a/Tools/Frame_params/Iris.param
+++ b/Tools/Frame_params/Iris.param
@@ -1,11 +1,9 @@
 ANGLE_MAX,3000
 BATT_AMP_PERVOLT,17
-AMP_PER_VOLT,17
 BATT_MONITOR,4
 BATT_CURR_PIN,3
 BATT_VOLT_PIN,2
 BATT_VOLT_MULT,12.02
-VOLT_DIVIDER,12.02
 COMPASS_ORIENT,0
 FENCE_ENABLE,1
 FENCE_TYPE,1
@@ -28,19 +26,20 @@ RC9_FUNCTION,7
 RC9_MAX,1520
 RC9_MIN,1000
 RC9_REV,-1
-RATE_PIT_D,0.006
-RATE_PIT_I,0.25
-RATE_PIT_P,0.185
-RATE_RLL_D,0.006
-RATE_RLL_I,0.22
-RATE_RLL_P,0.16
+RATE_PIT_D,0.00650000
+RATE_PIT_I,0.14500006
+RATE_PIT_P,0.14500006
+RATE_RLL_D,0.00850000
+RATE_RLL_I,0.11500001
+RATE_RLL_P,0.11500001
 RATE_YAW_D,0
 RATE_YAW_I,0.02
 RATE_YAW_IMAX,800
 RATE_YAW_P,0.16
-STB_PIT_P,3.8
-STB_RLL_P,3.8
-STB_YAW_P,2.5
+RC_FEEL_RP,75
+STB_PIT_P,7.01250029
+STB_RLL_P,7.01250029
+STB_YAW_P,6.0
 THR_MID,580
 THR_RATE_P,5
 WPNAV_LOIT_SPEED,1000