diff --git a/Tools/Frame_params/Parrot_Bebop.param b/Tools/Frame_params/Parrot_Bebop.param
index ca58eded59..a7074e606d 100644
--- a/Tools/Frame_params/Parrot_Bebop.param
+++ b/Tools/Frame_params/Parrot_Bebop.param
@@ -1,26 +1,28 @@
-#NOTE: Bebop default parameters 
-
-ATC_ACCEL_P_MAX,150000
-ATC_ACCEL_R_MAX,150000
-ATC_ACCEL_Y_MAX,27000
+#NOTE: Bebop default parameters
+ATC_ACCEL_P_MAX,220000
+ATC_ACCEL_R_MAX,220000
+ATC_ACCEL_Y_MAX,56000
 INS_GYRO_FILTER,40
-MOT_THST_EXPO,0.6
+MOT_THST_EXPO,0.05
 MOT_THST_MAX,1.00
-RATE_PIT_D,0.0025
+MOT_YAW_HEADROOM,200
+POS_XY_P,1
+RATE_PIT_D,0.0022
 RATE_PIT_FILT_HZ,40
-RATE_PIT_I,0.15
+RATE_PIT_I,0.126
 RATE_PIT_IMAX,2000
-RATE_PIT_P,0.15
-RATE_RLL_D,0.002
+RATE_PIT_P,0.126
+RATE_RLL_D,0.0005
 RATE_RLL_FILT_HZ,40
-RATE_RLL_I,0.1
+RATE_RLL_I,0.11
 RATE_RLL_IMAX,2000
-RATE_RLL_P,0.1
+RATE_RLL_P,0.11
 RATE_YAW_D,0
-RATE_YAW_FILT_HZ,4
-RATE_YAW_I,0.04
+RATE_YAW_FILT_HZ,3.0
+RATE_YAW_I,0.103
 RATE_YAW_IMAX,1000
-RATE_YAW_P,0.4
-STB_PIT_P,6
-STB_RLL_P,6
-STB_YAW_P,4.5
\ No newline at end of file
+RATE_YAW_P,1.03
+STB_PIT_P,15
+STB_RLL_P,10
+STB_YAW_P,12
+THR_MIN,130