diff --git a/toid_navigation/params/toid_general_params.yaml b/toid_navigation/params/toid_general_params.yaml
index d08280b..3069468 100644
--- a/toid_navigation/params/toid_general_params.yaml
+++ b/toid_navigation/params/toid_general_params.yaml
@@ -37,9 +37,9 @@ behavior_server:
       plugin: "toid::MoveCoords"
     approachAcorns:
       plugin: "toid::ApproachAcorns"
-      kphi: 2.0
-      kdelta: 1.0
-      lambda: 2.0
+      kphi: 1.2
+      kdelta: 2.0
+      lambda: 3.0
       debug_marker: true
     rotateAcorns:
       plugin: "toid::RotateAcorns"