diff --git a/src/dcaiti_control/config/dcaiti_config.yml b/src/dcaiti_control/config/dcaiti_config.yml
index ccfd4f7..e72efb9 100644
--- a/src/dcaiti_control/config/dcaiti_config.yml
+++ b/src/dcaiti_control/config/dcaiti_config.yml
@@ -19,8 +19,10 @@ diff_cont:
     wheel_separation: 0.215
     wheel_radius: 0.0477464829
 
-    min_acceleration: -0.01
-    max_acceleration: 0.01
+    linear:
+      x:
+        max_acceleration: 0.05
+        has_acceleration_limits: true
 
     use_stamped_vel: false