diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index fc92f16..c7460d8 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -423,8 +423,8 @@ namespace rosbzz_node{
 		z = cartesian_pos_payload[2];
 		try {
        		out[0]=sqrt(pow(x,2.0)+pow(y,2.0)+pow(z,2.0));
-		out[1]=atan2(y,x);
-		out[2]=atan2((sqrt(pow(x,2.0)+pow(y,2.0))),z);
+		out[1]=atan2(x,y);
+		out[2]=atan2(z,(sqrt(pow(x,2.0)+pow(y,2.0))));
    		} catch (std::overflow_error e) {
         	std::cout << e.what() << " Error in convertion to spherical coordinate system "<<endl;
    		}
diff --git a/src/test1.bzz b/src/test1.bzz
index 7f7b224..df435a4 100644
--- a/src/test1.bzz
+++ b/src/test1.bzz
@@ -17,7 +17,7 @@ TARGET_ALTITUDE = 10.1
  
 # Lennard-Jones parameters
 TARGET     = 5	#0.000001001
-EPSILON    = 800	#0.001
+EPSILON    = 200	#0.001
  
 # Lennard-Jones interaction magnitude
 function lj_magnitude(dist, target, epsilon) {