diff --git a/README.md b/README.md
index 2621334b..2bf40eb4 100644
--- a/README.md
+++ b/README.md
@@ -79,8 +79,8 @@ After the prerequisites are satisfied, you can clone this repository to your cat
  set(ENABLE_CUDA false)
  # set(ENABLE_CUDA true)
  ```
-The GPU version is recommended, because it generates depth images more like a real depth camera.
-If you want to use the GPU depth rendering, set ENABLE_CUDA to true, and also remember to change the 'arch' and 'code' flags according to your graphics card devices. You can check the right code [here](https://github.com/tpruvot/ccminer/wiki/Compatibility).
+However, we STRONGLY recommend the GPU version, because it generates depth images more like a real depth camera.
+To enable the GPU depth rendering, set ENABLE_CUDA to true, and also remember to change the 'arch' and 'code' flags according to your graphics card devices. You can check the right code [here](https://github.com/tpruvot/ccminer/wiki/Compatibility).
 
 ```
     set(CUDA_NVCC_FLAGS 
diff --git a/uav_simulator/local_sensing/params/camera.yaml b/uav_simulator/local_sensing/params/camera.yaml
index 7bb4e2a9..88144642 100644
--- a/uav_simulator/local_sensing/params/camera.yaml
+++ b/uav_simulator/local_sensing/params/camera.yaml
@@ -1,9 +1,11 @@
 cam_width:  640
 cam_height: 480
-cam_fx:     385.754
-cam_fy:     257.296
-cam_cx:     385.754
-cam_cy:     236.743
+cam_fx:     387.229248046875
+cam_fy:     387.229248046875
+cam_cx:     321.04638671875
+cam_cy:     243.44969177246094
+
+
 # cam_width:  752
 # cam_height: 480
 # cam_fx:     258.654