diff --git a/flix/estimate.ino b/flix/estimate.ino
index cd8da9f..cd8dcb9 100644
--- a/flix/estimate.ino
+++ b/flix/estimate.ino
@@ -8,8 +8,8 @@
 #include "lpf.h"
 #include "util.h"
 
-#define WEIGHT_ACC 0.003
-#define RATES_LFP_ALPHA 0.2 // cutoff frequency ~ 40 Hz
+float accWeight = 0.003;
+LowPassFilter<Vector> ratesFilter(0.2); // cutoff frequency ~ 40 Hz
 
 void estimate() {
 	applyGyro();
@@ -18,7 +18,6 @@ void estimate() {
 
 void applyGyro() {
 	// filter gyro to get angular rates
-	static LowPassFilter<Vector> ratesFilter(RATES_LFP_ALPHA);
 	rates = ratesFilter.update(gyro);
 
 	// apply rates to attitude
@@ -34,7 +33,7 @@ void applyAcc() {
 
 	// calculate accelerometer correction
 	Vector up = Quaternion::rotateVector(Vector(0, 0, 1), attitude);
-	Vector correction = Vector::rotationVectorBetween(acc, up) * WEIGHT_ACC;
+	Vector correction = Vector::rotationVectorBetween(acc, up) * accWeight;
 
 	// apply correction
 	attitude = Quaternion::rotate(attitude, Quaternion::fromRotationVector(correction));
diff --git a/flix/parameters.ino b/flix/parameters.ino
index db6350f..0738f12 100644
--- a/flix/parameters.ino
+++ b/flix/parameters.ino
@@ -49,6 +49,9 @@ Parameter parameters[] = {
 	{"IMU_ACC_SCALE_X", &accScale.x},
 	{"IMU_ACC_SCALE_Y", &accScale.y},
 	{"IMU_ACC_SCALE_Z", &accScale.z},
+	// estimate
+	{"EST_ACC_WEIGHT", &accWeight},
+	{"EST_RATES_LPF_A", &ratesFilter.alpha},
 	// rc
 	{"RC_ZERO_0", &channelZero[0]},
 	{"RC_ZERO_1", &channelZero[1]},