diff --git a/src/boards/Main/Configs/ADAConfig.h b/src/boards/Main/Configs/ADAConfig.h
index f5e1ecf25c4c3e9a385c50eb2166664385ccd887..8b850d9011051ee04bc2ec77545ad9853caad005 100644
--- a/src/boards/Main/Configs/ADAConfig.h
+++ b/src/boards/Main/Configs/ADAConfig.h
@@ -33,16 +33,12 @@ namespace ADAConfig
 constexpr uint32_t UPDATE_PERIOD   = 20;                       // 50 hz
 static const float SAMPLING_PERIOD = UPDATE_PERIOD / 1000.0f;  // in seconds
 
-// Initialize the Kalman filter with a negative (pressure) acceleration in order
-// to make it more responsive during the propulsive phase
-static const float KALMAN_INITIAL_ACCELERATION = 0;
-
 constexpr int PRES_STAB_TIMEOUT = 5 * 1000;  // [ms]
 
 #ifdef EUROC
 constexpr int SHADOW_MODE_TIMEOUT = 16 * 1000;  // [ms]
 #else
-constexpr int SHADOW_MODE_TIMEOUT = 8 * 1000;  // [ms]
+constexpr int SHADOW_MODE_TIMEOUT = 7 * 1000;  // [ms]
 #endif
 
 // When the vertical speed is smaller than this value, apogee is detected.
diff --git a/src/boards/Main/Configs/AirBrakesControllerConfig.h b/src/boards/Main/Configs/AirBrakesControllerConfig.h
index 63b3665d70dd096bff0202462059870045086d8a..4480be7084de1e32db6ead281cb3e467a58e1d6b 100644
--- a/src/boards/Main/Configs/AirBrakesControllerConfig.h
+++ b/src/boards/Main/Configs/AirBrakesControllerConfig.h
@@ -36,7 +36,7 @@ constexpr uint32_t UPDATE_PERIOD = 100;  // 10 hz
 #ifdef EUROC
 static constexpr int SHADOW_MODE_TIMEOUT = 5 * 1000;
 #else
-static constexpr int SHADOW_MODE_TIMEOUT = 3.5 * 1000;
+static constexpr int SHADOW_MODE_TIMEOUT = 3.8 * 1000;
 #endif
 
 constexpr float MACH_LIMIT = 0.8;
diff --git a/src/boards/Main/StateMachines/ADAController/ADAController.cpp b/src/boards/Main/StateMachines/ADAController/ADAController.cpp
index 58d70122a398ecbbbc6b6745abdb1b3f5bd9a173..5cf98a9414dc509e1067ac8ed31981f599b64347 100644
--- a/src/boards/Main/StateMachines/ADAController/ADAController.cpp
+++ b/src/boards/Main/StateMachines/ADAController/ADAController.cpp
@@ -568,7 +568,7 @@ ADA::KalmanFilter::KalmanConfig ADAController::getADAKalmanConfig()
             R_INIT,
             P_INIT,
             ADA::KalmanFilter::CVectorN(ada.getReferenceValues().refPressure, 0,
-                                        KALMAN_INITIAL_ACCELERATION)};
+                                        0)};
 }
 
 }  // namespace Main
diff --git a/src/boards/common/ReferenceConfig.h b/src/boards/common/ReferenceConfig.h
index 63b52635c24a676d9dafd1dce8a5f6c27b5ac106..26874c48f42e0159564d6b02ab019ecdc7fcafa9 100644
--- a/src/boards/common/ReferenceConfig.h
+++ b/src/boards/common/ReferenceConfig.h
@@ -50,8 +50,8 @@ static const Boardcore::ReferenceValues defaultReferenceValues = {
     1414.0,      // [m] Altitude
     85452.0,     // [Pa] Pressure
     278.95,      // [K] Temperature
-    41.8086605,  // [deg] Start latitude
-    14.0543387,  // [deg] Start longitude
+    41.8089005,  // [deg] Start latitude
+    14.0546716,  // [deg] Start longitude
     Boardcore::Constants::MSL_PRESSURE,
     Boardcore::Constants::MSL_TEMPERATURE,
 };