diff --git a/y2022/control_loops/python/turret.py b/y2022/control_loops/python/turret.py
index 83ba4b3..fead853 100644
--- a/y2022/control_loops/python/turret.py
+++ b/y2022/control_loops/python/turret.py
@@ -17,18 +17,18 @@
 except gflags.DuplicateFlagError:
     pass
 
-kTurret = angular_system.AngularSystemParams(
-    name='Turret',
-    motor=control_loop.Falcon(),
-    G=0.01,
-    J=2.0,
-    q_pos=0.40,
-    q_vel=20.0,
-    kalman_q_pos=0.12,
-    kalman_q_vel=2.0,
-    kalman_q_voltage=4.0,
-    kalman_r_position=0.05,
-    radius=24 * 0.0254)
+kTurret = angular_system.AngularSystemParams(name='Turret',
+                                             motor=control_loop.Falcon(),
+                                             G=(14.0 / 66.0) * (24.0 / 58.0) *
+                                             (18.0 / 110.0),
+                                             J=2.0,
+                                             q_pos=0.40,
+                                             q_vel=20.0,
+                                             kalman_q_pos=0.12,
+                                             kalman_q_vel=2.0,
+                                             kalman_q_voltage=4.0,
+                                             kalman_r_position=0.05,
+                                             radius=24 * 0.0254)
 
 
 def main(argv):