diff --git a/Tools/Frame_params/ArduRoller-balancebot.param b/Tools/Frame_params/ArduRoller-balancebot.param
index 28993b19fd1bd..41c7d50ee9dff 100644
--- a/Tools/Frame_params/ArduRoller-balancebot.param
+++ b/Tools/Frame_params/ArduRoller-balancebot.param
@@ -1,19 +1,19 @@
-#NOTE: ArduRoller balance bot parameters for Rover-3.5 and higher
+#NOTE: ArduRoller balance bot parameters for Rover-4.3 and higher
 ACRO_TURN_RATE,90
 AHRS_ORIENTATION,29
-ATC_ACCEL_MAX,1
-ATC_BAL_D,0.01
+ATC_ACCEL_MAX,5
+ATC_BAL_D,0.18
 ATC_BAL_FF,0
+ATC_BAL_FLTD,0
 ATC_BAL_FILT,0
 ATC_BAL_FLTE,0
 ATC_BAL_I,7
 ATC_BAL_IMAX,1
-ATC_BAL_P,1.2
-ATC_BAL_SPD_FF,1.1
+ATC_BAL_P,5
+ATC_BAL_SPD_FF,1.0
 ATC_BRAKE,1
-ATC_STR_ACC_MAX,180
+ATC_STR_ACC_MAX,120
 BAL_PITCH_MAX,10
-BRD_PWM_COUNT,0
 CRASH_ANGLE,45
 CRUISE_SPEED,0.4
 CRUISE_THROTTLE,50
@@ -36,33 +36,37 @@ SERVO3_MAX,2000
 SERVO3_MIN,1000
 SERVO3_REVERSED,1
 SERVO3_TRIM,1500
+SERVO11_FUNCTION,-1
+SERVO12_FUNCTION,-1
+SERVO13_FUNCTION,-1
+SERVO14_FUNCTION,-1
 ATC_TURN_MAX_G,0.2
-WENC_CPR,3200
+WENC_CPR,1600
 WENC_PINA,55
 WENC_PINB,54
 WENC_POS_X,0
 WENC_POS_Y,-0.1
 WENC_POS_Z,0
-WENC_RADIUS,0.05
+WENC_RADIUS,0.06
 WENC_TYPE,1
-WENC2_CPR,3200
+WENC2_CPR,1600
 WENC2_PINA,53
 WENC2_PINB,52
 WENC2_POS_X,0
 WENC2_POS_Y,0.1
 WENC2_POS_Z,0
-WENC2_RADIUS,0.05
+WENC2_RADIUS,0.06
 WENC2_TYPE,1
-WRC_RATE_D,0.01
-WRC_RATE_FF,8
-WRC_RATE_FILT,50
-WRC_RATE_I,2
+WRC_RATE_D,0.2
+WRC_RATE_FF,4.2
+WRC_RATE_FLTD,50
+WRC_RATE_I,4
 WRC_RATE_IMAX,1
 WRC_RATE_MAX,12
-WRC_RATE_P,2
-WRC2_RATE_D,0.01
-WRC2_RATE_FF,8
-WRC2_RATE_FILT,50
-WRC2_RATE_I,2
+WRC_RATE_P,0
+WRC2_RATE_D,0.2
+WRC2_RATE_FF,4.2
+WRC2_RATE_FLTD,50
+WRC2_RATE_I,4
 WRC2_RATE_IMAX,1
-WRC2_RATE_P,2
+WRC2_RATE_P,0