diff --git a/quad/Makefile b/quad/Makefile
index f27a39d37141e31878c324788ef9c141db241be5..ca04300af8cb6b1e97c8339b9e85fabd3a47b75e 100644
--- a/quad/Makefile
+++ b/quad/Makefile
@@ -25,8 +25,9 @@ zybo:
 	bash scripts/build_zybo.sh
 
 # For creating an image of the control network.
-gen_diagram:
-	$(MAKE) -C src/gen_diagram
+diagram:
+	$(MAKE) libs
+	$(MAKE) -C src/gen_diagram run
 	bash src/gen_diagram/create_png.sh
 
 boot: $(BOOT)
diff --git a/quad/src/gen_diagram/network.dot b/quad/src/gen_diagram/network.dot
index bd697cf68bc407933c1fb0899382e20387b768ed..b61a1bbf57d09f7e7f9e9c0610766487446e9067 100644
--- a/quad/src/gen_diagram/network.dot
+++ b/quad/src/gen_diagram/network.dot
@@ -72,13 +72,13 @@ label="<f0>dPhi  |<f1> [Constant=0.000]"]
 "dPsi"[shape=record
 label="<f0>dPsi  |<f1> [Constant=0.000]"]
 "P PWM Clamp"[shape=record
-label="<f0>P PWM Clamp  |<f1> --\>Bounds in |<f2> [Min=-30000.000] |<f3> [Max=30000.000]"]
+label="<f0>P PWM Clamp  |<f1> --\>Bounds in |<f2> [Min=-20000.000] |<f3> [Max=20000.000]"]
 "Pitch Rate PID" -> "P PWM Clamp":f1 [label="Correction"]
 "R PWM Clamp"[shape=record
-label="<f0>R PWM Clamp  |<f1> --\>Bounds in |<f2> [Min=-30000.000] |<f3> [Max=30000.000]"]
+label="<f0>R PWM Clamp  |<f1> --\>Bounds in |<f2> [Min=-20000.000] |<f3> [Max=20000.000]"]
 "Roll Rate PID" -> "R PWM Clamp":f1 [label="Correction"]
 "Y PWM Clamp"[shape=record
-label="<f0>Y PWM Clamp  |<f1> --\>Bounds in |<f2> [Min=-30000.000] |<f3> [Max=30000.000]"]
+label="<f0>Y PWM Clamp  |<f1> --\>Bounds in |<f2> [Min=-20000.000] |<f3> [Max=20000.000]"]
 "Yaw Rate PID" -> "Y PWM Clamp":f1 [label="Correction"]
 "VRPN X"[shape=record
 label="<f0>VRPN X  |<f1> [Constant=0.000]"]
diff --git a/quad/src/gen_diagram/network.png b/quad/src/gen_diagram/network.png
index 3152aa2cf13de32d5cab578f0a029869757c325c..ffd286cda1878bd5e2b9b585f5883ac57173025d 100644
Binary files a/quad/src/gen_diagram/network.png and b/quad/src/gen_diagram/network.png differ
diff --git a/quad/src/quad_app/control_algorithm.c b/quad/src/quad_app/control_algorithm.c
index 424f098cbe02be1fb3e7707b6383fa0814c99957..3002cfc2697bc760dd657e4f7d6fa11df0264577 100644
--- a/quad/src/quad_app/control_algorithm.c
+++ b/quad/src/quad_app/control_algorithm.c
@@ -13,8 +13,8 @@
 #include "util.h"
 #include "timer.h"
 
-#define ROLL_PITCH_MAX_ANGLE 1.5708 // 90 degrees
-#define PWM_DIFF_BOUNDS 30000
+#define ROLL_PITCH_MAX_ANGLE 0.35 // 20 degrees
+#define PWM_DIFF_BOUNDS 20000
 #define VRPN_REFRESH_TIME 0.01f // 10ms
 
 void connect_autonomous(parameter_t* ps) {