diff --git a/cfg/CollisionManager.cfg b/cfg/CollisionManager.cfg
index 8ec8aae4052b23b7d84cf0c0750c87563f3a5380..43d5837fb767f0f0055a011042f4abbead801fe5 100755
--- a/cfg/CollisionManager.cfg
+++ b/cfg/CollisionManager.cfg
@@ -39,12 +39,12 @@ gen = ParameterGenerator()
 
 #       Name     Type       Reconf.level Description             Default Min   Max
 gen.add("rate",                                 double_t,   0,           "Main loop rate (Hz)",                                   10.0,   0.1, 1000.0)
-gen.add("collision_acc_th",                     double_t,   0,           "Threshold to detect a collision",                       9.8,    0.1, 40.0)
+gen.add("collision_acc_th",                     double_t,   0,           "Threshold to detect a collision",                       9.8,    0.1, 160.0)
 gen.add("err_msg_rate",                         double_t,   0,           "Rate to publish err messages",                          0.5,    0.1, 1.0)
-gen.add("fixed_frame",                          str_t,      0,           "Fixed frame",                                           "map")
+gen.add("fixed_frame",                          str_t,      0,           "Fixed frame",                                           "base_link")
 gen.add("tf_timeout",                           double_t,   0,           "Timeout to find a transform",                           0.2, 0.1, 2.0)
-gen.add("collision_transition_counter_en",      bool_t,     0,           "Enable to the collision counter",                       False)
-gen.add("collision_counter_limit",              int_t,      0,           "Number of low/high acc imu meassures to end/start a collision",    6, 1, 30)
+gen.add("collision_transition_counter_en",      bool_t,     0,           "Enable the collision counter",                          False)
+gen.add("collision_counter_limit",              int_t,      0,           "Number of low acc imu meassures to detect an end of collision",    6, 1, 30)
 
 
 exit(gen.generate(PACKAGE, "CollisionManagerAlgorithm", "CollisionManager"))
\ No newline at end of file