diff --git a/A320-main.xml b/A320-main.xml
index a6b4d59f..c437bb3c 100644
--- a/A320-main.xml
+++ b/A320-main.xml
@@ -32,10 +32,10 @@
 				<yaw alias="/gear/gear[0]/steering-norm"/>
 				<yaw-mult type="float">1.0</yaw-mult>
 				<target-speed-km_h type="float">0.0</target-speed-km_h>
-				<K_p type="float">1.0</K_p>
-				<F_p type="float">0.1</F_p>
-				<K_i type="float">0.01</K_i>
-				<F_i type="float">2.0</F_i>
+				<K_p type="float">0.5</K_p>
+				<F_p type="float">0.15</F_p>
+				<K_i type="float">0.25</K_i>
+				<F_i type="float">0.1</F_i>
 				<K_d type="float">0.0</K_d>
 				<F_d type="float">0.0</F_d>
 				<driver>
diff --git a/Nasal/autopush.nas b/Nasal/autopush.nas
index 02bdf7f1..e13b1fcd 100644
--- a/Nasal/autopush.nas
+++ b/Nasal/autopush.nas
@@ -17,7 +17,7 @@ var _K_d = nil;
 var _F_d = nil;
 var _F = nil;
 var _int = nil;
-var _deltaV = nil;
+var _V = nil;
 var _T_f = nil;
 var _K_yaw = nil;
 var _yasim = 0;
@@ -36,9 +36,9 @@ var _loop = func() {
 	var y = 0.0;
 	# Rollspeed is only adequate if the wheel is touching the ground.
 	if (getprop("/gear/gear[0]/wow")) {
-		var deltaV = getprop("/sim/model/pushback/target-speed-km_h");
-		deltaV -= getprop("/gear/gear[0]/rollspeed-ms") * 3.6;
-		var dV = deltaV - _deltaV;
+		var V = getprop("/gear/gear[0]/rollspeed-ms") * 3.6;
+		var deltaV = getprop("/sim/model/pushback/target-speed-km_h") - V;
+		var dV = V - _V;
 		var time = getprop("/sim/time/elapsed-sec");
 		var prop = math.min(math.max(_K_p * deltaV, -_F_p), _F_p);
 		var speedup = getprop("/sim/speed-up");
@@ -47,7 +47,7 @@ var _loop = func() {
 		# XXX Sanitising dt. Smaller chance of freakout on lag spike.
 		if(dt > 0.0) {
 			if(dt < 0.05) {
-				_int = math.min(math.max(_int + _K_i * dV * dt, -_F_i), _F_i);
+				_int = math.min(math.max(_int + _K_i * deltaV * dt, -_F_i), _F_i);
 			}
 			if(dt > 0.002) {
 				deriv = math.min(math.max(_K_d * dV / dt, -_F_d), _F_d);
@@ -57,7 +57,7 @@ var _loop = func() {
 		if (_debug > 2) {
 			print("pushback prop " ~ prop ~ ", _int " ~ _int ~ ", deriv " ~ deriv);
 		}
-		_deltaV = deltaV;
+		_V = V;
 		_time = time;
 		if (!_yasim) {
 			force = accel * getprop("/fdm/jsbsim/inertia/weight-lbs") * _unitconv;
@@ -98,7 +98,7 @@ var _start = func() {
 	_yasim = (getprop("/sim/flight-model") == "yasim");
 	_debug = getprop("/sim/model/pushback/debug") or 0;
 	_int = 0.0;
-	_deltaV = 0.0;
+	_V = 0.0;
 	_time = getprop("/sim/time/elapsed-sec");
 	setprop("/sim/model/pushback/connected", 1);
 	if (!_timer.isRunning) {
diff --git a/revision.txt b/revision.txt
index 3a5f22c3..d9c2ba3e 100644
--- a/revision.txt
+++ b/revision.txt
@@ -1 +1 @@
-4722
\ No newline at end of file
+4723
\ No newline at end of file