diff --git a/src/boards/Payload/Configs/NASConfig.h b/src/boards/Payload/Configs/NASConfig.h
index b6c0698651948266665abdc7ee10eddec802c2aa..f26f950da87bd2c24ef726c4cc65f8c943e30526 100644
--- a/src/boards/Payload/Configs/NASConfig.h
+++ b/src/boards/Payload/Configs/NASConfig.h
@@ -44,19 +44,19 @@ constexpr unsigned int CALIBRATION_SLEEP_TIME = 100;  // [ms]
 static const Boardcore::NASConfig CONFIG = {
     .T              = UPDATE_RATE_SECONDS,
     .SIGMA_BETA     = 0.0001,
-    .SIGMA_W        = 0.3,
-    .SIGMA_ACC      = 0.1,
-    .SIGMA_MAG      = 0.1,
-    .SIGMA_GPS      = {0.002f, 0.002f, 0.01f / 30.0f, 0.01f / 30.0f},
-    .SIGMA_BAR      = 50.0,
-    .SIGMA_POS      = 10.0,
-    .SIGMA_VEL      = 10.0,
-    .SIGMA_PITOT    = 10e-3,
-    .P_POS          = 1.0,
-    .P_POS_VERTICAL = 10.0,
-    .P_VEL          = 1.0,
-    .P_VEL_VERTICAL = 10.0,
-    .P_ATT          = 0.01,
+    .SIGMA_W        = 0.0019,
+    .SIGMA_ACC      = 0.202,
+    .SIGMA_MAG      = 0.0047,
+    .SIGMA_GPS      = {0.0447f, 0.0447f, 0.1f / 30.0f, 0.1f / 30.0f},
+    .SIGMA_BAR      = 4.5097,
+    .SIGMA_POS      = 2.0,
+    .SIGMA_VEL      = 1.0,
+    .SIGMA_PITOT    = 1e-3,
+    .P_POS          = 0.0,
+    .P_POS_VERTICAL = 0.0,
+    .P_VEL          = 0.0,
+    .P_VEL_VERTICAL = 0.0,
+    .P_ATT          = 0.1,
     .P_BIAS         = 0.01,
     .SATS_NUM       = 6.0,
     .NED_MAG        = Common::ReferenceConfig::nedMag};