diff --git a/src/MindVisionMain.cpp b/src/MindVisionMain.cpp
index 1fc7036..b62128b 100644
--- a/src/MindVisionMain.cpp
+++ b/src/MindVisionMain.cpp
@@ -6,7 +6,7 @@
 #include <thread>
 #include <memory>
 #include <unistd.h>
-
+#include <math.h>
 #include <opencv2/opencv.hpp>
 #include <opencv2/tracking.hpp>
 
@@ -30,13 +30,13 @@ void output_control_data(const cv::Point2f* ballistic_point,
         std::ostringstream send_str;
 
         // Calculate offset (based on actual image center)
-        int ballistic_offset_x = -static_cast<int>(ballistic_point->x - img_center.x);
-        if ( abs(ballistic_offset_x) > 320){
-            ballistic_offset_x = ( ballistic_offset_x / abs( ballistic_offset_x ) ) * 320 ;
+        int ballistic_offset_yaw = 1.9*-static_cast<int>(ballistic_point->x - img_center.x);
+        if ( abs(ballistic_offset_yaw) > 320){
+            ballistic_offset_yaw = ( ballistic_offset_yaw / abs( ballistic_offset_yaw ) ) * 220 ;
         }
-        int ballistic_offset_y = -static_cast<int>(img_center.y - ballistic_point->y);
-        if ( abs(ballistic_offset_y) > 180 ) {
-            ballistic_offset_y = ( ballistic_offset_x / abs( ballistic_offset_x ) ) * 180 ;
+        int ballistic_offset_pitch = 1.9*-static_cast<int>(img_center.y - ballistic_point->y);
+        if ( abs(ballistic_offset_pitch) > 180 ) {
+            ballistic_offset_pitch = ( ballistic_offset_pitch / abs( ballistic_offset_pitch ) ) * 180*1.9 ;
         }
 
         // Color simplification mapping