diff --git a/src/boards/Parafoil/Configs/WingConfig.h b/src/boards/Parafoil/Configs/WingConfig.h
index 0aa8d462db34576dd2bb8d43a0db6400d9080b36..3aba0fcf013ef402870d0d11d892312c53d8ecb5 100644
--- a/src/boards/Parafoil/Configs/WingConfig.h
+++ b/src/boards/Parafoil/Configs/WingConfig.h
@@ -22,6 +22,8 @@
 
 #pragma once
 
+#include <utils/Constants.h>
+
 #include <ostream>
 
 namespace Parafoil
@@ -45,16 +47,16 @@ constexpr int SELECTED_ALGORITHM = 0;
 constexpr float DEFAULT_TARGET_LAT = 45.565835;
 constexpr float DEFAULT_TARGET_LON = 12.577307;
 #else  // Milan
-constexpr float DEFAULT_TARGET_LAT = 45.501148;
-constexpr float DEFAULT_TARGET_LON = 9.156301;
+constexpr float DEFAULT_TARGET_LAT = 45.565835;
+constexpr float DEFAULT_TARGET_LON = 12.577307;
 #endif
 
 constexpr int WING_STRAIGHT_FLIGHT_TIMEOUT = 15 * 1000;  // [ms]
 
 constexpr int WING_UPDATE_PERIOD = 1000;  // [ms]
 
-constexpr float PI_CONTROLLER_SATURATION_MAX_LIMIT = 1;
-constexpr float PI_CONTROLLER_SATURATION_MIN_LIMIT = -1;
+constexpr float PI_CONTROLLER_SATURATION_MAX_LIMIT = Boardcore::Constants::PI;
+constexpr float PI_CONTROLLER_SATURATION_MIN_LIMIT = -Boardcore::Constants::PI;
 
 constexpr int GUIDANCE_CONFIDENCE                = 15;
 constexpr int GUIDANCE_M1_ALTITUDE_THRESHOLD     = 250;  //[m]
@@ -62,8 +64,8 @@ constexpr int GUIDANCE_M2_ALTITUDE_THRESHOLD     = 150;  //[m]
 constexpr int GUIDANCE_TARGET_ALTITUDE_THRESHOLD = 50;   //[m]
 
 // TODO check this parameter preflight
-constexpr float KP = 0.0075;
-constexpr float KI = 0.0007;
+constexpr float KP = 1.3537;
+constexpr float KI = 0.0111;
 
 constexpr float ALTITUDE_TRIGGER_DEPLOYMENT_ALTITUDE = 300;  // [meters]
 constexpr int ALTITUDE_TRIGGER_CONFIDENCE = 10;   // [number of sample]
diff --git a/src/boards/Parafoil/Wing/AutomaticWingAlgorithm.cpp b/src/boards/Parafoil/Wing/AutomaticWingAlgorithm.cpp
index a8cdb069fdc62bbf4c83e604d35354672bbf9f64..963b91d1dbdf65ed5c1e9081587f2b83595b2f6d 100644
--- a/src/boards/Parafoil/Wing/AutomaticWingAlgorithm.cpp
+++ b/src/boards/Parafoil/Wing/AutomaticWingAlgorithm.cpp
@@ -76,14 +76,14 @@ void AutomaticWingAlgorithm::step()
         if (result > 0)
         {
             // Activate the servo2 and reset servo1
-            modules.get<Actuators>()->setServo(servo1, 0);
-            modules.get<Actuators>()->setServo(servo2, result);
+            modules.get<Actuators>()->setServoAngle(servo1, 0);
+            modules.get<Actuators>()->setServoAngle(servo2, result);
         }
         else
         {
             // Activate the servo1 and reset servo2
-            modules.get<Actuators>()->setServo(servo1, result * -1);
-            modules.get<Actuators>()->setServo(servo2, 0);
+            modules.get<Actuators>()->setServoAngle(servo1, result * -1);
+            modules.get<Actuators>()->setServoAngle(servo2, 0);
         }
 
         // Log the servo positions
@@ -134,7 +134,7 @@ float AutomaticWingAlgorithm::algorithmStep(NASState state, Vector2f windNED)
     result = controller->update(error);
 
     // Convert the result from radians back to degrees
-    // result = result * (180.f / Constants::PI);
+    result = result * (180.f / Constants::PI);
 
     // Flip the servo orientation
     // result *= -1;