diff --git a/src/straight_line.py b/src/straight_line.py
index 2b36d70..33af3cf 100755
--- a/src/straight_line.py
+++ b/src/straight_line.py
@@ -74,8 +74,7 @@ def guidance_law():
     accelerations=Vector3Stamped()
     accelerations.vector.x = accel[0]
     accelerations.vector.y=accel[1]
-    #we add 2 to the vertical acceleration because otherwise it sometimes
-    #just falls
+    
     accelerations.vector.z=accel[2]
     return accelerations        
 
@@ -150,15 +149,15 @@ if __name__ == '__main__':
     k = 2
     k2 = 2
     m=1.5
-    b3 = 2*np.sqrt(m*k)
-    b = 2*np.sqrt(m*k)
-    b2 = 2*np.sqrt(m*k2)
+    b3 = 0.4*np.sqrt(m*k)
+    b = 0.4*np.sqrt(m*k)
+    b2 = 0.4*np.sqrt(m*k2)
     #describe the vectors that define our direction of travel
     #the first vector is the direction we travel, the other two are two more
     #vectors that form an orthonormal basis with the first one
     unit_vector = np.array([1,0,0])
-    unit_vector_2 = np.array([0,1,0])
-    unit_vector_3 = np.array([0,0,1])
+    unit_vector_2 = np.array([0,0,-1])
+    unit_vector_3 = np.array([0,1,0])
     unit_vector = unit_vector/np.linalg.norm(unit_vector)
     unit_vector_2 = unit_vector_2/np.linalg.norm(unit_vector_2)
     #here we start creating the subscribers, and launching the drone