diff --git a/README.md b/README.md
index f508a2d2..64a878a4 100644
--- a/README.md
+++ b/README.md
@@ -199,7 +199,7 @@ Next, you will implement the position, altitude and yaw control for your quad.
 
  - implement the code in the function `LateralPositionControl()`
  - implement the code in the function `AltitudeControl()`
- - tune parameters `kpPosZ` and `kpPosZ`
+ - tune parameters `kpPosXY` and `kpPosZ`
  - tune parameters `kpVelXY` and `kpVelZ`
 
 If successful, the quads should be going to their destination points and tracking error should be going down (as shown below). However, one quad remains rotated in yaw.
@@ -296,4 +296,4 @@ The specific performance metrics are as follows:
 
 ## Authors ##
 
-Thanks to Fotokite for the initial development of the project code and simulator.
\ No newline at end of file
+Thanks to Fotokite for the initial development of the project code and simulator.