diff --git a/hoverbrettctrl/src/main.cpp b/hoverbrettctrl/src/main.cpp
index 9483e31..20f3bc4 100644
--- a/hoverbrettctrl/src/main.cpp
+++ b/hoverbrettctrl/src/main.cpp
@@ -63,8 +63,8 @@ long last_adcupdated=0;
 
 #define CONTROLUPDATEPERIOD 10
 long last_controlupdate = 0;
-float filter_nrf_set_speed=0.1; //higher value, faster response. depends on CONTROLUPDATEPERIOD
-float filter_nrf_set_steer=0.1;
+float filter_nrf_set_speed=0.02; //higher value, faster response. depends on CONTROLUPDATEPERIOD
+float filter_nrf_set_steer=0.06;
 
 #define GT_LENGTH_MIN 200 //minimum length for stuff to start happen
 
@@ -120,7 +120,7 @@ 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;
-int16_t gt_speed_limit=400; //maximum out_speed value +
+int16_t gt_speed_limit=500; //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
@@ -564,11 +564,11 @@ void updateInputs(unsigned long loopmillis) {
           break;
         case 1: //Filter NRF Speed
           if (button_inc_click) {
-            filter_nrf_set_speed+=0.01;
+            filter_nrf_set_speed+=0.005;
             filter_nrf_set_speed = constrain(filter_nrf_set_speed, 0.01, 1.0);
           }
           if (button_dec_click) {
-            filter_nrf_set_speed-=0.01;
+            filter_nrf_set_speed-=0.005;
             filter_nrf_set_speed = constrain(filter_nrf_set_speed, 0.01, 1.0);
           }
           break;
@@ -750,10 +750,10 @@ void display_show_menu() {
         display.print(F("EXIT")); display.println();
         break;
       case 1:
-        display.print(F("Fltr spd=")); display.println(filter_nrf_set_speed);
+        display.print(F("Fltr spd=")); display.println(filter_nrf_set_speed,3);
         break;
       case 2:
-        display.print(F("Fltr str=")); display.println(filter_nrf_set_steer);
+        display.print(F("Fltr str=")); display.println(filter_nrf_set_steer,3);
         break;
       case 3:
         display.print(F("gt_speed_p=")); display.println(gt_speed_p);