diff --git a/launch/all.launch b/launch/all.launch
index 41bf8b8..fd7ae65 100644
--- a/launch/all.launch
+++ b/launch/all.launch
@@ -16,13 +16,13 @@
   </node>
 
   <param name="/commande/max_curv" value="0.02" type="double" />
-  <param name="/commande/plan_vel" value="0.8" type="double" />
-  <param name="/commande/z_vel" value="0.8" type="double" />
-  <param name="/commande/min_number" value="5000" type="int" />
+  <param name="/commande/plan_vel" value="0.3" type="double" />
+  <param name="/commande/z_vel" value="0.3" type="double" />
+  <param name="/commande/min_number" value="2000" type="int" />
   <param name="/commande/x_dev_min" value="0.1" type="double" />
   <param name="/commande/y_dev_min" value="0.1" type="double" />
   <param name="/commande/y_dev_min" value="0.1" type="double" />
-  <param name="/commande/dz_dev_min" value="0.1" type="double" />
+  <param name="/commande/dz_dev_min" value="0.05" type="double" />
 
   <node name="commander" pkg="hand_control" type="commande">
     <remap from="/commande/input" to="/estimator/output"/>
diff --git a/src/commande.cpp b/src/commande.cpp
index db31282..1c50295 100644
--- a/src/commande.cpp
+++ b/src/commande.cpp
@@ -84,7 +84,7 @@ class Run
       if (msg->curvature < max_curv && msg->number > min_number)
       {
         t_current = msg->header.stamp;
-        z_current = msg->normal.z;
+        z_current = msg->altitude;
 
         if (!first_msg)
         {