diff --git a/include/param_prj.h b/include/param_prj.h
index e640260..fed0a67 100644
--- a/include/param_prj.h
+++ b/include/param_prj.h
@@ -53,11 +53,10 @@
     PARAM_ENTRY(CAT_MOTOR,   curkp,       "",        0,      20000,  32,     107 ) \
     PARAM_ENTRY(CAT_MOTOR,   curki,       "",        0,      100000, 20000,  108 ) \
     PARAM_ENTRY(CAT_MOTOR,   curkifrqgain,"dig/Hz",  0,      1000,   50,     120 ) \
-    PARAM_ENTRY(CAT_MOTOR,   fwkp,        "",        0,      1000,   1,      142 ) \
-    PARAM_ENTRY(CAT_MOTOR,   fwki,        "",        0,      1000,   1,      143 ) \
-    PARAM_ENTRY(CAT_MOTOR,   fwmargin,    "dig",     0,      10000,  2000,   141 ) \
+    PARAM_ENTRY(CAT_MOTOR,   fwkp,        "",        0,      1000,   5,      142 ) \
+    PARAM_ENTRY(CAT_MOTOR,   fwki,        "",        0,      1000,   300,    143 ) \
+    PARAM_ENTRY(CAT_MOTOR,   fwmargin,    "dig",     0,      10000,  2500,   141 ) \
     PARAM_ENTRY(CAT_MOTOR,   syncofs,     "dig",     0,      65535,  0,      70  ) \
-    PARAM_ENTRY(CAT_MOTOR,   syncadv,     "dig/Hz",  0,      65535,  10,     133 ) \
     PARAM_ENTRY(CAT_MOTOR,   lqminusld,   "mH",      0,      1000,   0,      139 ) \
     PARAM_ENTRY(CAT_MOTOR,   fluxlinkage, "mWeber",  0,      1000,   90,     140 )
 
diff --git a/src/pwmgeneration-foc.cpp b/src/pwmgeneration-foc.cpp
index 1b87c88..67d8c2d 100644
--- a/src/pwmgeneration-foc.cpp
+++ b/src/pwmgeneration-foc.cpp
@@ -224,11 +224,6 @@ void PwmGeneration::CalcNextAngleSync(int dir)
    {
       uint16_t syncOfs = Param::GetInt(Param::syncofs);
       uint16_t rotorAngle = Encoder::GetRotorAngle();
-      s32fp syncadv = FP_MUL(frqFiltered, Param::GetInt(Param::syncadv));
-      syncadv = MAX(0, syncadv);
-
-      //Compensate rotor movement that happened between sampling and processing
-      syncOfs += FP_TOINT(dir * syncadv);
 
       angle = polePairRatio * rotorAngle + syncOfs;
       frq = polePairRatio * Encoder::GetRotorFrequency();