diff --git a/Tools/Frame_params/Iris.param b/Tools/Frame_params/Iris.param
index 6d69273f6d..407a9027ab 100644
--- a/Tools/Frame_params/Iris.param
+++ b/Tools/Frame_params/Iris.param
@@ -19,7 +19,7 @@ RATE_RLL_I,0.25
 RATE_RLL_P,0.17
 RATE_YAW_D,0
 RATE_YAW_I,0.02
-RATE_YAW_IMAX,4800
+RATE_YAW_IMAX,800
 RATE_YAW_P,0.16
 STB_PIT_P,3.8
 STB_RLL_P,3.8
@@ -27,3 +27,4 @@ STB_YAW_P,2.5
 THR_MID,580
 THR_RATE_P,5
 VOLT_DIVIDER,10.1
+WPNAV_LOIT_SPEED,1000