diff --git a/skyward-boardcore b/skyward-boardcore
index f457ea1f3a4afeb76944b7dd518a5c01fd675b83..434855b58774d8aa533a59046cb9b6d5cf089410 160000
--- a/skyward-boardcore
+++ b/skyward-boardcore
@@ -1 +1 @@
-Subproject commit f457ea1f3a4afeb76944b7dd518a5c01fd675b83
+Subproject commit 434855b58774d8aa533a59046cb9b6d5cf089410
diff --git a/src/Groundstation/Automated/Config/SMAConfig.h b/src/Groundstation/Automated/Config/SMAConfig.h
index e22f0d193040846badd9b80a333e262c0ec8b063..acd709f0152f178ea7170c2930b9b0d356c471a8 100644
--- a/src/Groundstation/Automated/Config/SMAConfig.h
+++ b/src/Groundstation/Automated/Config/SMAConfig.h
@@ -1,5 +1,5 @@
 /* Copyright (c) 2024 Skyward Experimental Rocketry
- * Author: Federico Lolli
+ * Author: Federico Lolli, Nicolò Caruso
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
@@ -34,5 +34,16 @@ namespace SMAConfig
 /// @brief Period of the propagator algorithm [ms].
 constexpr milliseconds UPDATE_PERIOD = 100ms;  // 10 Hz
 
+// No feedback gains for the Follower
+static constexpr float YAW_GAIN_NF =
+    1.0;  ///< Yaw gain for the no feedback states
+static constexpr float PITCH_GAIN_NF =
+    1.0;  ///< Pitch gain for the no feedback states
+
+// Feedback gains for the Follower
+static constexpr float YAW_GAIN_F = 0.1;  ///< Yaw gain for the feedback states
+static constexpr float PITCH_GAIN_F =
+    1.0;  ///< Pitch gain for the feedback states
+
 }  // namespace SMAConfig
 }  // namespace Antennas
diff --git a/src/Groundstation/Automated/SMA/SMA.cpp b/src/Groundstation/Automated/SMA/SMA.cpp
index 9fa53f0d1ee386c213f7e9533684193e296d69ad..a5064828ea23e321c35e8d36e6bb26420af8d19c 100644
--- a/src/Groundstation/Automated/SMA/SMA.cpp
+++ b/src/Groundstation/Automated/SMA/SMA.cpp
@@ -328,13 +328,19 @@ State SMA::state_feedback(const Event& event)
         case EV_ENTRY:
         {
             logStatus(SMAState::FEEDBACK);
-            getModule<Leds>()->setOn(LedColor::YELLOW);
+            getModule<Leds>()->setOn(LedColor::RED);
+
+            // Set the gains for the no feedback phase
+            if (!follower.setMaxGain(SMAConfig::YAW_GAIN_F,
+                                     SMAConfig::PITCH_GAIN_F))
+                LOG_ERR(logger, "Follower gain set failed!\n");
+
             return HANDLED;
         }
         case EV_EXIT:
         {
             getModule<Actuators>()->disarm();
-            getModule<Leds>()->setOff(LedColor::YELLOW);
+            getModule<Leds>()->setOff(LedColor::RED);
             return HANDLED;
         }
         case EV_EMPTY:
@@ -364,13 +370,19 @@ State SMA::state_no_feedback(const Event& event)
         case EV_ENTRY:
         {
             logStatus(SMAState::NO_FEEDBACK);
-            getModule<Leds>()->setOn(LedColor::YELLOW);
+            getModule<Leds>()->setOn(LedColor::RED);
+
+            // Set the gains for the no feedback phase
+            if (!follower.setMaxGain(SMAConfig::YAW_GAIN_NF,
+                                     SMAConfig::PITCH_GAIN_NF))
+                LOG_ERR(logger, "Follower gain set failed!\n");
+
             return HANDLED;
         }
         case EV_EXIT:
         {
             getModule<Actuators>()->disarm();
-            getModule<Leds>()->setOff(LedColor::YELLOW);
+            getModule<Leds>()->setOff(LedColor::RED);
             return HANDLED;
         }
         case EV_EMPTY: