diff --git a/src/tools/uav_viewer/gui/mainwindow.cpp b/src/tools/uav_viewer/gui/mainwindow.cpp
index dd793ca68..3b3a38256 100644
--- a/src/tools/uav_viewer/gui/mainwindow.cpp
+++ b/src/tools/uav_viewer/gui/mainwindow.cpp
@@ -24,10 +24,10 @@ void MainWindow::setSpeeds(Ice::CommunicatorPtr ic){
 
  	Ice::PropertiesPtr prop = ic->getProperties();
 
-	this->max_x = std::atof( prop->getPropertyWithDefault("UAVViewer.Xmax", "0.3").c_str() );
-	this->max_y = std::atof( prop->getPropertyWithDefault("UAVViewer.Ymax", "0.3").c_str() );
-	this->max_z = std::atof( prop->getPropertyWithDefault("UAVViewer.Zmax", "0.3").c_str() );
-	this->max_yaw = std::atof( prop->getPropertyWithDefault("UAVViewer.Yawmax", "0.3").c_str() );
+	this->max_x = std::atof( prop->getPropertyWithDefault("UAVViewer.Xmax", "3").c_str() )/10;
+	this->max_y = std::atof( prop->getPropertyWithDefault("UAVViewer.Ymax", "3").c_str() )/10;
+	this->max_z = std::atof( prop->getPropertyWithDefault("UAVViewer.Zmax", "3").c_str() )/10;
+	this->max_yaw = std::atof( prop->getPropertyWithDefault("UAVViewer.Yawmax", "3").c_str() )/10;
 }
 
 void MainWindow::initButtons(){
diff --git a/src/tools/uav_viewer/sensors/sensors.cpp b/src/tools/uav_viewer/sensors/sensors.cpp
index 8f1118e13..c608a2604 100644
--- a/src/tools/uav_viewer/sensors/sensors.cpp
+++ b/src/tools/uav_viewer/sensors/sensors.cpp
@@ -62,6 +62,8 @@ Sensors::Sensors(Ice::CommunicatorPtr ic)
         try{
             /*cast to CMDVelPrx*/
             cmdprx = jderobot::CMDVelPrx::checkedCast(basecmd);
+            std::string temp;
+
             if (0==cmdprx)
                 throw "CMDVel -> Invalid proxy";
 
@@ -126,6 +128,7 @@ void Sensors::sendVelocitiesToUAV(float vx,float vy,float vz,float roll,float pi
 {
 	mutexDrone.lock();
         jderobot::CMDVelDataPtr vel=new jderobot::CMDVelData();
+
         vel->linearX=vx;
         vel->linearY=vy;
         vel->linearZ=vz;
diff --git a/src/tools/uav_viewer/uav_viewer.cfg b/src/tools/uav_viewer/uav_viewer.cfg
index 69d1fdedd..418349560 100644
--- a/src/tools/uav_viewer/uav_viewer.cfg
+++ b/src/tools/uav_viewer/uav_viewer.cfg
@@ -4,3 +4,11 @@ UAVViewer.CMDVel.Proxy=ardrone_cmdvel:default -h 0.0.0.0 -p 9995
 UAVViewer.Navdata.Proxy=ardrone_navdata:default -h 0.0.0.0 -p 9996
 UAVViewer.Extra.Proxy=ardrone_extra:default -h 0.0.0.0 -p 9994
 
+
+
+# Following values will be divided by 10 to be used (3 --> 0.3 m/s) because atof doesn't work well (Truncates the decimal part)
+UAVViewer.Xmax=3
+UAVViewer.Ymax=3
+UAVViewer.Zmax=3
+UAVViewer.Yawmax=3
+
diff --git a/src/tools/uav_viewer/uav_viewer_simulated.cfg b/src/tools/uav_viewer/uav_viewer_simulated.cfg
index 2b3f81bce..d2d4c8b74 100644
--- a/src/tools/uav_viewer/uav_viewer_simulated.cfg
+++ b/src/tools/uav_viewer/uav_viewer_simulated.cfg
@@ -3,8 +3,10 @@ UAVViewer.Pose3D.Proxy=Pose3D:default -h 0.0.0.0 -p 9000
 UAVViewer.CMDVel.Proxy=CMDVel:default -h 0.0.0.0 -p 9000
 UAVViewer.Navdata.Proxy=Navdata:default -h 0.0.0.0 -p 9000
 UAVViewer.Extra.Proxy=Extra:default -h 0.0.0.0 -p 9000
-UAVViewer.Xmax=10
-UAVViewer.Ymax=10
-UAVViewer.Zmax=10
-UAVViewer.Yawmax=10
+
+# Following values will be divided by 10 to be used (3 --> 0.3 m/s) because atof doesn't work well (Truncates the decimal part)
+UAVViewer.Xmax=100
+UAVViewer.Ymax=100
+UAVViewer.Zmax=100
+UAVViewer.Yawmax=100