diff --git a/Manual.md b/Manual.md
index 9ca0d19..599eb93 100644
--- a/Manual.md
+++ b/Manual.md
@@ -492,19 +492,19 @@ Please note that deleting named waypoints do not update routes that reference th
 
 ### Advanced Settings
 
-| Command | Parameters/options | Unit/type | Parameter Optional | Description                                                                                                             |
-| ------- | ------------------ | --------- | ------------------ | ----------------------------------------------------------------------------------------------------------------------- |
-| set     |                    |           |                    |                                                                                                                         |
-|         | -lightp            | number    | Y                  | The proportional value of the yaw/pitch/roll controller for constructs with a mass of less than 10T. Default: 6.5       |
-|         | -lighti            | number    | Y                  | The integral value of the yaw/pitch/roll controller for constructs with a mass of less than 10T. Default: 20            |
-|         | -lightd            | number    | Y                  | The derivative value of the yaw/pitch/roll controller for constructs with a mass of less than 10T. Default: 1600        |
-|         | -lighta            | number    | Y                  | The amortization value of the yaw/pitch/roll controller for constructs with a mass of less than 10T. Default: 1600      |
-|         | -heavyp            | number    | Y                  | The proportional value of the yaw/pitch/roll controller for constructs with a mass of more than than 10T. Default: 6.5  |
-|         | -heavyi            | number    | Y                  | The integral value of the yaw/pitch/roll controller for constructs with a mass of more than than 10T. Default: 20       |
-|         | -heavyd            | number    | Y                  | The derivative value of the yaw/pitch/roll controller for constructs with a mass of more than than 10T. Default: 1600   |
-|         | -heavya            | number    | Y                  | The amortization value of the yaw/pitch/roll controller for constructs with a mass of more than than 10T. Default: 1600 |
-
-> Note: Adjusting the values of the yaw/pitch/roll controller may allow you to get quicker responses, but also induce instability.
+| Command | Parameters/options | Unit/type | Parameter Optional | Description                                                                                                            |
+| ------- | ------------------ | --------- | ------------------ | ---------------------------------------------------------------------------------------------------------------------- |
+| set     |                    |           |                    |                                                                                                                        |
+|         | -lightp            | number    | Y                  | The proportional value of the yaw/pitch/roll controller for constructs with a mass of less than 10T. Default: 10       |
+|         | -lighti            | number    | Y                  | The integral value of the yaw/pitch/roll controller for constructs with a mass of less than 10T. Default: 0            |
+|         | -lightd            | number    | Y                  | The derivative value of the yaw/pitch/roll controller for constructs with a mass of less than 10T. Default: 800        |
+|         | -lighta            | number    | Y                  | The amortization value of the yaw/pitch/roll controller for constructs with a mass of less than 10T. Default: 0.1      |
+|         | -heavyp            | number    | Y                  | The proportional value of the yaw/pitch/roll controller for constructs with a mass of more than than 10T. Default: 6   |
+|         | -heavyi            | number    | Y                  | The integral value of the yaw/pitch/roll controller for constructs with a mass of more than than 10T. Default: 1       |
+|         | -heavyd            | number    | Y                  | The derivative value of the yaw/pitch/roll controller for constructs with a mass of more than than 10T. Default: 1600  |
+|         | -heavya            | number    | Y                  | The amortization value of the yaw/pitch/roll controller for constructs with a mass of more than than 10T. Default: 0.1 |
+
+> Note: Adjusting the values of the yaw/pitch/roll controller may allow you to get quicker responses, but also induce instability. If the construct behaves jerkish, try lowering the lightd/heavyd value.
 
 ### Free and strict mode