diff --git a/hoverbrettctrl/src/main.cpp b/hoverbrettctrl/src/main.cpp
index 77359e5..9483e31 100644
--- a/hoverbrettctrl/src/main.cpp
+++ b/hoverbrettctrl/src/main.cpp
@@ -22,7 +22,7 @@ uint8_t displaymode=0;
 #define DISPLAY_STATS3 2
 #define DISPLAY_MENU 3
 uint8_t menu_entrypos=0;
-#define MENU_ENTRIES 3 // max id is MENU_ENTRIES-1
+#define MENU_ENTRIES 7 // max id is MENU_ENTRIES-1
 
 uint8_t error = 0;
 #define IMU_NO_CHANGE 2 //IMU values did not change for too long
@@ -120,9 +120,9 @@ uint16_t gt_length_set=1000; //set length to keep [mm]
 float gt_speed_p=0.7; //value to multipy difference [mm] with -> out_speed
 float gt_speedbackward_p=0.7;
 float gt_steer_p=2.0;
-#define GT_SPEED_LIMIT 400 //maximum out_speed value +
-#define GT_SPEEDBACKWARD_LIMIT 100//maximum out_speed value (for backward driving) -
-#define GT_STEER_LIMIT 300 //maximum out_steer value +-
+int16_t gt_speed_limit=400; //maximum out_speed value +
+int16_t gt_backward_speed_limit=100; //maximum out_speed value (for backward driving) -
+int16_t gt_steer_limit=300; //maximum out_steer value +-
 #define GT_LENGTH_MAXIMUMDIFFBACKWARD -250 //[mm]. if gt_length_set=1000 and GT_LENGTH_MAXIMUMDIFFBACKWARD=-200 then only drives backward if lenght is greater 800
 
 
@@ -433,13 +433,13 @@ void loop() {
       _gt_length_diff=0; //threshold
     }
 
-    set_steer=constrain((int16_t)(-gt_horizontal*gt_steer_p),-GT_STEER_LIMIT,GT_STEER_LIMIT); //steer positive is left //gt_horizontal left is negative
+    set_steer=constrain((int16_t)(-gt_horizontal*gt_steer_p),-gt_steer_limit,gt_steer_limit); //steer positive is left //gt_horizontal left is negative
     
     if (_gt_length_diff>0) { //needs to drive forward
-      set_speed = constrain((int16_t)(_gt_length_diff*gt_speed_p),0,GT_SPEED_LIMIT);
+      set_speed = constrain((int16_t)(_gt_length_diff*gt_speed_p),0,gt_speed_limit);
     }else{ //drive backward
       if (_gt_length_diff > GT_LENGTH_MAXIMUMDIFFBACKWARD){ //only drive if not pulled back too much
-        set_speed = constrain((int16_t)(_gt_length_diff*gt_speedbackward_p),-GT_SPEEDBACKWARD_LIMIT,0);
+        set_speed = constrain((int16_t)(_gt_length_diff*gt_speedbackward_p),-gt_backward_speed_limit,0);
       }else{
         set_speed = 0; //stop
         set_steer = 0;
@@ -582,6 +582,50 @@ void updateInputs(unsigned long loopmillis) {
             filter_nrf_set_steer = constrain(filter_nrf_set_steer, 0.01, 1.0);
           }
           break;
+        case 3:
+          if (button_inc_click) {
+            gt_speed_p+=0.05;
+            gt_speed_p = constrain(gt_speed_p, 0.05, 5.0);
+          }
+          if (button_dec_click) {
+            gt_speed_p-=0.05;
+            gt_speed_p = constrain(gt_speed_p, 0.05, 5.0);
+          }
+          break;
+        case 4:
+          if (button_inc_click) {
+            gt_steer_p+=0.05;
+            gt_steer_p = constrain(gt_steer_p, 0.05, 5.0);
+          }
+          if (button_dec_click) {
+            gt_steer_p-=0.05;
+            gt_steer_p = constrain(gt_steer_p, 0.05, 5.0);
+          }
+          break;
+        case 5:
+          if (button_inc_click) {
+            gt_speed_limit+=50;
+            gt_speed_limit = constrain(gt_speed_limit, 50, 1000);
+          }
+          if (button_dec_click) {
+            gt_speed_limit-=50;
+            gt_speed_limit = constrain(gt_speed_limit, 50, 1000);
+          }
+          break;
+        case 6:
+          if (button_inc_click) {
+            gt_steer_limit+=50;
+            gt_steer_limit = constrain(gt_steer_limit, 50, 1000);
+          }
+          if (button_dec_click) {
+            gt_steer_limit-=50;
+            gt_steer_limit = constrain(gt_steer_limit, 50, 1000);
+          }
+          break;
+
+
+
+          
       }
       break;
 
@@ -711,7 +755,20 @@ void display_show_menu() {
       case 2:
         display.print(F("Fltr str=")); display.println(filter_nrf_set_steer);
         break;
+      case 3:
+        display.print(F("gt_speed_p=")); display.println(gt_speed_p);
+        break;
+      case 4:
+        display.print(F("gt_steer_p=")); display.println(gt_steer_p);
+        break;
+      case 5:
+        display.print(F("gt_speed_limit=")); display.println(gt_speed_limit);
+        break;
+      case 6:
+        display.print(F("gt_steer_limit=")); display.println(gt_steer_limit);
+        break;
     }
+
   }
   
   display.display();      // Show initial text