diff --git a/real_robot/coordination_formation_control_pkg/config/formationConfig.yaml b/real_robot/coordination_formation_control_pkg/config/formationConfig.yaml
index 3f680fc5c077e922031d90d4c5605555a169ea81..b8b83be81ddc15e82336fb336a2fc1efe2cefe7f 100644
--- a/real_robot/coordination_formation_control_pkg/config/formationConfig.yaml
+++ b/real_robot/coordination_formation_control_pkg/config/formationConfig.yaml
@@ -3,7 +3,7 @@ uav_c1_alpha: 0.20
 uav_c2_alpha: 0.3 # this is recomputed
 uav_c1_beta: 0.3
 uav_c2_beta: 0.1 # this is recomputed
-uav_c1_gamma: 0.3
+uav_c1_gamma: 0.25
 uav_c2_gamma: 0.2
 uav_c1_theta: 0.2
 uav_c1_delta: 0.09
diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_9_working/test_crazyflie_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_9_working/test_crazyflie_1_logdata.bag
index a62ae759e3a906e595ede9f33f68bc1818b0600e..77f37da8f05ca924c6a782a54ed022ce84758f88 100644
Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_9_working/test_crazyflie_1_logdata.bag and b/real_robot/coordination_formation_control_pkg/results/experiment_9_working/test_crazyflie_1_logdata.bag differ
diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_9_working/test_crazyflie_2_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_9_working/test_crazyflie_2_logdata.bag
index c08a192633312d25b61975b6f111809f917ef343..e393bfa7ae159d1fc0d8114b742ae058d47f4bb3 100644
Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_9_working/test_crazyflie_2_logdata.bag and b/real_robot/coordination_formation_control_pkg/results/experiment_9_working/test_crazyflie_2_logdata.bag differ