diff --git a/groundStation/scripts/eric.sh b/groundStation/scripts/eric.sh
index b84457723c09faed7f8854d47e156010357e7725..2b3a57b2b57a77c066a195b728334cfd2d2c0944 100755
--- a/groundStation/scripts/eric.sh
+++ b/groundStation/scripts/eric.sh
@@ -1,28 +1,34 @@
 #!/bin/bash
 
-
+./setparam 18 0 0.045
 #inner loop
-#./setparam 'roll rate pid' 'kp' 2000
-#./setparam 'roll rate pid' 'ki' 0
-#./setparam 'roll rate pid' 'kd' 0
+./setparam 'roll rate pid' 'kp' 3000
+./setparam 'roll rate pid' 'ki' 0
+./setparam 'roll rate pid' 'kd' 500
+./setparam 'roll rate pid' 'alpha' 0.88
 
-#./setparam 'pitch rate pid' 'kp' 2000
-#./setparam 'pitch rate pid' 'ki' 0
-#./setparam 'pitch rate pid' 'kd' 0
+./setparam 'pitch rate pid' 'kp' 3000
+./setparam 'pitch rate pid' 'ki' 0
+./setparam 'pitch rate pid' 'kd' 500
+./setparam 'pitch rate pid' 'alpha' 0.88
 
-#./setparam 'roll pid' 'kp' 10
-#./setparam 'roll pid' 'ki' 0
+./setparam 'roll pid' 'kp' 50
+./setparam 'roll pid' 'ki' 0
+./setparam 'roll pid' 'kd' 1
+./setparam 'roll pid' 'alpha' 0.88
 
-#./setparam 'pitch pid' 'kp' 10
-#./setparam 'pitch pid' 'ki' 0
+./setparam 'pitch pid' 'kp' 50
+./setparam 'pitch pid' 'ki' 0
+./setparam 'pitch pid' 'kd' 1
+./setparam 'pitch pid' 'alpha' 0.88
 
 #outer loop
-./setparam 'X pos PID' 'kp' -0.015
-./setparam 'X pos PID' 'ki' -0.0005
-./setparam 'X pos PID' 'kd' -0.25
+./setparam 'X pos PID' 'kp' -0.175
+./setparam 'X pos PID' 'ki' -0.002
+./setparam 'X pos PID' 'kd' -0.225
 ./setparam 'X pos PID' 'alpha' 0.88
 
-./setparam 'Y pos PID' 'kp' 0.015
-./setparam 'Y pos PID' 'ki' 0.0005
-./setparam 'Y pos PID' 'kd' 0.25
+./setparam 'Y pos PID' 'kp' 0.175
+./setparam 'Y pos PID' 'ki' 0.002
+./setparam 'Y pos PID' 'kd' 0.225
 ./setparam 'Y pos PID' 'alpha' 0.88
diff --git a/groundStation/scripts/rate_controller.sh b/groundStation/scripts/rate_controller.sh
new file mode 100755
index 0000000000000000000000000000000000000000..fd37f3b5b514c29cb2a501e00b4b4c7f122c49bc
--- /dev/null
+++ b/groundStation/scripts/rate_controller.sh
@@ -0,0 +1,53 @@
+#! /bin/bash
+
+
+./setparam 18 0 0.045 
+#inner loop
+./setparam 'roll rate pid' 'kp' 3000
+./setparam 'roll rate pid' 'ki' 0
+./setparam 'roll rate pid' 'kd' 500
+./setparam 'roll rate pid' 'alpha' 0.88
+
+./setparam 'pitch rate pid' 'kp' 3000
+./setparam 'pitch rate pid' 'ki' 0
+./setparam 'pitch rate pid' 'kd' 500
+./setparam 'pitch rate pid' 'alpha' 0.88
+
+./setparam 'roll pid' 'kp' 35
+./setparam 'roll pid' 'ki' 0
+./setparam 'roll pid' 'kd' 1
+./setparam 'roll pid' 'alpha' 0.88
+
+./setparam 'pitch pid' 'kp' 35
+./setparam 'pitch pid' 'ki' 0
+./setparam 'pitch pid' 'kd' 1
+./setparam 'pitch pid' 'alpha' 0.88
+
+./setparam "X pos PID" "kp" -0.55
+./setparam "X pos PID" "ki" -0.0075
+./setparam "X pos PID" "kd" -0
+
+./setparam "Y pos PID" "kp" -0.55
+./setparam "Y pos PID" "ki" -0.0075
+./setparam "Y pos PID" "kd" -0
+
+./setparam "Altitude PID" "kp" -9804
+./setparam "Altitude PID" "ki" -817
+./setparam "Altitude PID" "kd" -7353
+./setparam "Altitude PID" "alpha" 0.88
+
+./setparam "X vel PID" "kp" 0.1
+./setparam "X vel PID" "kd" 0.02
+
+./setparam "X vel" "alpha" 0.88
+
+./setparam "Y vel PID" "kp" -0.1
+./setparam "Y vel PID" "kd" -0.02
+
+./setparam "y vel" "alpha" 0.88
+
+./setparam "x val clamp" 0 -1
+./setparam "x val clamp" 1 1
+
+./setparam "y val clamp" 0 -1
+./setparam "y val clamp" 1 1