diff --git a/params/feetech_sts3215_7_4V/m1.json b/params/feetech_sts3215_7_4V/m1.json
index e18183d..4edb73a 100644
--- a/params/feetech_sts3215_7_4V/m1.json
+++ b/params/feetech_sts3215_7_4V/m1.json
@@ -1 +1 @@
-{"kt": 1.21164135295077, "R": 2.6761663274455603, "armature": 0.02840336348682085, "q_offset": -0.05116067663549731, "friction_base": 0.05239296084748866, "friction_viscous": 0.05908515565091076, "model": "m1", "actuator": "sts3215"}
\ No newline at end of file
+{"kt": 1.1825652989380575, "error_gain_ratio": 1.028665200974065, "R": 2.7155614266127666, "armature": 0.027379432207727913, "q_offset": -0.013932701696702743, "max_velocity": 5.242111707385247, "friction_base": 0.06787034393446413, "friction_viscous": 0.04463218954431852, "model": "m1", "actuator": "sts3215"}
\ No newline at end of file