diff --git a/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_controller.launch b/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_controller.launch
index d81cc0026..64d2e88bf 100644
--- a/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_controller.launch
+++ b/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_controller.launch
@@ -2,8 +2,8 @@
 <launch>
   <node name="mrac" pkg="navigator_controller" type="mrac_controller.py" output="screen">
     <rosparam>
-      kp: [1500.0, 1500.0, 5600.0]
-      kd: [300.0, 200.0, 3000.0]
+      kp: [1000.0, 700, 5600.0]
+      kd: [200.0, 400, 3000.0]
       ki: [0.2, 0.2, 0.2]
       kg: [5.0, 5.0, 5.0, 5.0, 5.0]
       mass: 251.19
diff --git a/NaviGator/simulation/VRX/vrx b/NaviGator/simulation/VRX/vrx
index edecd95e3..e2dc3de4f 160000
--- a/NaviGator/simulation/VRX/vrx
+++ b/NaviGator/simulation/VRX/vrx
@@ -1 +1 @@
-Subproject commit edecd95e38ff68e59d66f647448415222a4529ce
+Subproject commit e2dc3de4f369a5c88747508da2c7f85b58ff0cbe