diff --git a/cfg/Commander.cfg b/cfg/Commander.cfg
index f5b3b60..0787569 100755
--- a/cfg/Commander.cfg
+++ b/cfg/Commander.cfg
@@ -4,13 +4,14 @@ from dynamic_reconfigure.parameter_generator_catkin import *
 gen = ParameterGenerator()
 gen.add("max_curvature", double_t, 0, "Maximum curvature of the estimated plane", 0.5, 0., 1.)
 gen.add("x_minimal_deviation", double_t, 0, "Absolute horizontal movement detection treshold", 0.1, 0.)
-gen.add("y_minimal_deviation", double_t, 0, "Absolute lateral movement detection treshold", 0.1, 0.)
+gen.add("y_minimal_deviation", double_t, 0, "Absolute lateral movement detection treshold", 0.2, 0.)
 gen.add("z_minimal_deviation", double_t, 0, "Absolute vertical movement detection treshold", 0.1, 0.)
-gen.add("neutral_alt", double_t, 0, "Reference altitude for vertical movement command", 0.8, 0.)
-gen.add("min_points_number", int_t, 0, "Minimal number of plane points needed for a valid estimation", 1000, 0)
+gen.add("neutral_alt", double_t, 0, "Reference altitude for vertical movement command", 1.1, 0.)
+gen.add("min_points_number", int_t, 0, "Minimal number of plane points needed for a valid estimation", 300, 0)
 gen.add("up_fact", double_t, 0, "Upward command amplification factor", 1.5, 1)
 gen.add("theta_minimal_deviation", double_t, 0, "Absolute angular movement detection treshold", 15., 0., 45.)
 gen.add("angle_vel", double_t, 0, "Angular velocity", 0.01, 0., 10.)
-gen.add("plan_vel", double_t, 0, "Translation velocity", 0.5, 0., 10.)
-gen.add("z_vel", double_t, 0, "Vertical translation velocity", 2., 0., 10.)
+gen.add("x_vel", double_t, 0, "X Translation velocity", 0.5, 0., 10.)
+gen.add("y_vel", double_t, 0, "Y Translation velocity", 0.3, 0., 10.)
+gen.add("z_vel", double_t, 0, "Vertical translation velocity", 1.5, 0., 10.)
 exit(gen.generate(PACKAGE, "hand_control", "Commander"))
diff --git a/src/commander.cpp b/src/commander.cpp
index 5aed7f1..864ca0d 100644
--- a/src/commander.cpp
+++ b/src/commander.cpp
@@ -29,7 +29,7 @@ class Run
     // zz > 0 : up
     // zz < 0 : down
 
-    float plan_vel, z_vel, angle_vel, up_factor, neutral_z;
+    float x_vel, y_vel, z_vel, angle_vel, up_factor, neutral_z;
 
     float max_curv;
     float z_dev_min, x_dev_min, y_dev_min, th_dev_min;
@@ -53,11 +53,11 @@ class Run
 
       if (fabs(yy) > fabs(xx) && fabs(yy) > y_dev_min)
       {
-        mvt->linear.y = yy * plan_vel;
+        mvt->linear.y = yy * y_vel;
       }
       else if (fabs(xx) > x_dev_min)
       {
-        mvt->linear.x = - xx * plan_vel;
+        mvt->linear.x = - xx * x_vel;
       }
 
       if (fabs(theta) > th_dev_min) {
@@ -118,7 +118,8 @@ class Run
       neutral_z = c.neutral_alt;
       min_number = c.min_points_number;
       up_factor = c.up_fact;
-      plan_vel = c.plan_vel;
+      x_vel = c.x_vel;
+      y_vel = c.y_vel;
       z_vel = c.z_vel;
       angle_vel = c.angle_vel;
     }