diff --git a/src/boards/Parafoil/Configs/ActuatorsConfigs.h b/src/boards/Parafoil/Configs/ActuatorsConfigs.h
index b7a73497871927f232cf9639847b7292c801207e..6a1c53675cafa9d96fcbd199f6e0da08c4b41158 100644
--- a/src/boards/Parafoil/Configs/ActuatorsConfigs.h
+++ b/src/boards/Parafoil/Configs/ActuatorsConfigs.h
@@ -36,36 +36,24 @@ static TIM_TypeDef* const SERVO_1_TIMER = TIM3;
 constexpr Boardcore::TimerUtils::Channel SERVO_1_PWM_CH =
     Boardcore::TimerUtils::Channel::CHANNEL_1;
 
-constexpr float LEFT_SERVO_ROTATION  = 180;  // [deg]
-constexpr float LEFT_SERVO_MIN_PULSE = 900;  // [us]
-constexpr float LEFT_SERVO_MAX_PULSE =
-    LEFT_SERVO_MIN_PULSE + 10 * LEFT_SERVO_ROTATION;  // [us]
+constexpr float SERVO_ROTATION = 180;
+
+constexpr float LEFT_SERVO_ROTATION  = SERVO_ROTATION;  // [deg]
+constexpr float LEFT_SERVO_MIN_PULSE = 2500;            // [us]
+constexpr float LEFT_SERVO_MAX_PULSE = 500;             // [us]
 
 // Right servo
 static TIM_TypeDef* const SERVO_2_TIMER = TIM3;
 constexpr Boardcore::TimerUtils::Channel SERVO_2_PWM_CH =
     Boardcore::TimerUtils::Channel::CHANNEL_2;
 
-constexpr float RIGHT_SERVO_ROTATION  = 180;   // [deg]
-constexpr float RIGHT_SERVO_MIN_PULSE = 2100;  // [us]
-constexpr float RIGHT_SERVO_MAX_PULSE =
-    RIGHT_SERVO_MIN_PULSE - 10 * RIGHT_SERVO_ROTATION;  // [us]
+constexpr float RIGHT_SERVO_ROTATION  = SERVO_ROTATION;  // [deg]
+constexpr float RIGHT_SERVO_MIN_PULSE = 500;             // [us]
+constexpr float RIGHT_SERVO_MAX_PULSE = 2500;            // [us]
 
 // Parafoil twirl
 constexpr float SERVO_TWIRL_RADIUS = 0.75;  // [%]
 
-// Buzzer configs
-static TIM_TypeDef* const BUZZER_TIMER = TIM1;
-constexpr Boardcore::TimerUtils::Channel BUZZER_CHANNEL =
-    Boardcore::TimerUtils::Channel::CHANNEL_1;
-constexpr uint32_t BUZZER_FREQUENCY = 1000;
-constexpr float BUZZER_DUTY_CYCLE   = 0.5;
-
-constexpr uint32_t BUZZER_UPDATE_PERIOD = 100;  // [ms]
-
-constexpr uint32_t ROCKET_SS_ARMED_PERIOD = 500;
-constexpr uint32_t ROCKET_SS_LAND_PERIOD  = 1000;  // [ms]
-
 }  // namespace ActuatorsConfigs
 
 }  // namespace Parafoil
diff --git a/src/boards/Parafoil/Configs/WingConfig.h b/src/boards/Parafoil/Configs/WingConfig.h
index 9c5fc145cbe7f0598ae57ee91ba0cd09a75c8374..0aa8d462db34576dd2bb8d43a0db6400d9080b36 100644
--- a/src/boards/Parafoil/Configs/WingConfig.h
+++ b/src/boards/Parafoil/Configs/WingConfig.h
@@ -34,7 +34,7 @@ namespace WingConfig
 #if defined(CLOSED_LOOP)
 constexpr int SELECTED_ALGORITHM = 0;
 #elif EARLY_MANEUVER
-constexpr int SELECTED_ALGORITHM = 1;
+constexpr int SELECTED_ALGORITHM   = 1;
 #elif SEQUENCE
 constexpr int SELECTED_ALGORITHM = 2;
 #else
@@ -53,8 +53,8 @@ constexpr int WING_STRAIGHT_FLIGHT_TIMEOUT = 15 * 1000;  // [ms]
 
 constexpr int WING_UPDATE_PERIOD = 1000;  // [ms]
 
-constexpr float PI_CONTROLLER_SATURATION_MAX_LIMIT = 2.09439;
-constexpr float PI_CONTROLLER_SATURATION_MIN_LIMIT = -2.09439;
+constexpr float PI_CONTROLLER_SATURATION_MAX_LIMIT = 1;
+constexpr float PI_CONTROLLER_SATURATION_MIN_LIMIT = -1;
 
 constexpr int GUIDANCE_CONFIDENCE                = 15;
 constexpr int GUIDANCE_M1_ALTITUDE_THRESHOLD     = 250;  //[m]
@@ -62,14 +62,14 @@ 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;  //[m]
-constexpr float KI = 0.0007;  //[m]
+constexpr float KP = 0.0075;
+constexpr float KI = 0.0007;
 
 constexpr float ALTITUDE_TRIGGER_DEPLOYMENT_ALTITUDE = 300;  // [meters]
 constexpr int ALTITUDE_TRIGGER_CONFIDENCE = 10;   // [number of sample]
 constexpr int ALTITUDE_TRIGGER_PERIOD     = 100;  //[ms]
 
-constexpr float MAX_SERVO_APERTURE = 0.5;  //[%]
+constexpr float MAX_SERVO_APERTURE = 0.8;  //[%]
 
 struct WingConfigStruct
 {
diff --git a/src/boards/Parafoil/Wing/AutomaticWingAlgorithm.cpp b/src/boards/Parafoil/Wing/AutomaticWingAlgorithm.cpp
index d259f0d934d71e1f770a6c263985cad0eb9306f3..d60fd5f45028204080a5f5e0981a0bbb7130cb53 100644
--- a/src/boards/Parafoil/Wing/AutomaticWingAlgorithm.cpp
+++ b/src/boards/Parafoil/Wing/AutomaticWingAlgorithm.cpp
@@ -108,19 +108,28 @@ float AutomaticWingAlgorithm::algorithmStep(NASState state, Vector2f windNED)
 
     float targetAngle = guidance.calculateTargetAngle(currentPosition, heading);
 
-    Vector2f relativeVelocity(state.vn - windNED[0], state.ve - windNED[1]);
+    Vector2f relativeVelocity(state.vn, state.ve);
+    // Remove WES for this test
 
     // Compute the angle of the current velocity
     float velocityAngle;
 
-    // In case of a 0 north velocity i force the angle to 90
+    // All angle are computed as angle from the north direction
+
     if (relativeVelocity[0] == 0 && relativeVelocity[1] == 0)
     {
+        // If we are not moving velocityAngle is 0
         velocityAngle = 0;
     }
+    else if (relativeVelocity[0] == 0)
+    {
+        // If we are not moving in the N S axis we interpret velocity[1]
+        velocityAngle = (relativeVelocity[1] > 0 ? 1 : -1) * Constants::PI / 2;
+    }
     else if (relativeVelocity[1] == 0)
     {
-        velocityAngle = (relativeVelocity[0] > 0 ? 1 : -1) * Constants::PI / 2;
+        // If we are not moving in the E O axis we interpret velocity[0]
+        velocityAngle = (relativeVelocity[0] > 0 ? 0 : 1) * Constants::PI;
     }
     else
     {