diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..652a2fa
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+/scripts/qt_pi/*.pyc
diff --git a/config/qt_pi_arduino_params.yaml b/config/qt_pi_arduino_params.yaml
index 028830b..152ff38 100644
--- a/config/qt_pi_arduino_params.yaml
+++ b/config/qt_pi_arduino_params.yaml
@@ -13,7 +13,7 @@ base_frame: base_link
 camera_frame: camera_depth_frame
 # === Robot drivetrain parameters
 wheel_diameter: 0.0703464848466
-wheel_track: 0.22
+wheel_track: 0.205
 encoder_resolution: 240 # from Pololu for 131:1 motors
 motors_reversed: False
 gear_reduction: 1.0
diff --git a/scripts/qt_pi/base_controller.pyc b/scripts/qt_pi/base_controller.pyc
index bee0828..a43ecde 100644
Binary files a/scripts/qt_pi/base_controller.pyc and b/scripts/qt_pi/base_controller.pyc differ