diff --git a/mg_msgs/action/MoveGlobal.action b/mg_msgs/action/MoveGlobal.action
index e710c3b..cc7f93c 100644
--- a/mg_msgs/action/MoveGlobal.action
+++ b/mg_msgs/action/MoveGlobal.action
@@ -3,15 +3,15 @@ float64[] y
 
 float64 step 0.1
 float64 tolerance 0.05
-float64 max_wheel_speed 3
+float64 max_wheel_speed 6.0
 float64 max_angular 3.14
 float64 max_vel 4
-float64 pos_mult 15
-float64 ornt_mult 4
+float64 pos_mult 14.0
+float64 ornt_mult 3.0
 float64 t_ornt_mult 0.1
-float64 obst_mult_a 50
-float64 obst_mult_b -30
-float64 obst_mult_c -9
+float64 obst_mult_a 160
+float64 obst_mult_b 4.0
+float64 obst_mult_c 0
 string[] ignore_tags []
 ---
 uint8 SUCCESS=0