diff --git a/robots/ninja/config/NinjaControl_sim.yaml b/robots/ninja/config/NinjaControl_sim.yaml
index b0fa60065..5f6716304 100644
--- a/robots/ninja/config/NinjaControl_sim.yaml
+++ b/robots/ninja/config/NinjaControl_sim.yaml
@@ -3,10 +3,10 @@ aerial_robot_control_name: aerial_robot_control/ninja_controller
 controller:
   torque_allocation_matrix_inv_pub_interval: 0.05
   wrench_allocation_matrix_pub_interval: 0.1
-  gimbal_calc_in_fc : false
+  gimbal_calc_in_fc : true
   gimbal_dof : 2
 
-  i_term_rp_calc_in_pc: false
+  i_term_rp_calc_in_pc: true
   wrench_estimate_update_rate: 100 
   momentum_observer_force_weight: 3
   momentum_observer_torque_weight: 2.5
@@ -51,9 +51,9 @@ controller:
     force_landing_descending_rate: -0.5
 
   roll:
-    p_gain: 8.0 #8~25
+    p_gain: 12.0 #8~25
     i_gain: 1.0
-    d_gain: 5.0 #4~11
+    d_gain: 10.0 #4~11
     limit_sum: 20.0
     limit_p: 20.0
     limit_i: 10.0
@@ -62,9 +62,9 @@ controller:
     start_rp_integration_height: 0.01
 
   pitch:
-    p_gain: 8.0 #8~25
+    p_gain: 10.0 #8~25
     i_gain: 1.0
-    d_gain: 6.0 #4~11
+    d_gain: 3.0 #4~11
     limit_sum: 20.0
     limit_p: 20.0
     limit_i: 10.0