diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4aa347cdf592935741311b6b54d4d52cb7edd373..11d68fa236ff1d7089ebc53b684a179763e35b1b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -134,8 +134,8 @@ sbs_target(parafoil-guided-jesolo stm32f429zi_death_stack_v2)
 add_executable(parafoil-guided-dynamic src/Parafoil/parafoil-entry.cpp ${PARAFOIL_COMPUTER})
 target_include_directories(parafoil-guided-dynamic PRIVATE ${OBSW_INCLUDE_DIRS})
 target_compile_definitions(parafoil-guided-dynamic PRIVATE ALGORITHM_CLOSED_LOOP DYNAMIC_TARGET
-    DYNAMIC_TARGET_LATITUDE_OFFSET=50
-    DYNAMIC_TARGET_LONGITUDE_OFFSET=50
+    DYNAMIC_TARGET_LATITUDE_OFFSET=35
+    DYNAMIC_TARGET_LONGITUDE_OFFSET=-156
 )
 sbs_target(parafoil-guided-dynamic stm32f429zi_death_stack_v2)
 
@@ -151,10 +151,10 @@ sbs_target(parafoil-t-approach-milano stm32f429zi_death_stack_v2)
 
 add_executable(parafoil-t-approach-dynamic src/Parafoil/parafoil-entry.cpp ${PARAFOIL_COMPUTER})
 target_include_directories(parafoil-t-approach-dynamic PRIVATE ${OBSW_INCLUDE_DIRS})
-target_compile_definitions(parafoil-t-approach-dynamic PRIVATE
+    target_compile_definitions(parafoil-t-approach-dynamic PRIVATE
     ALGORITHM_EARLY_MANEUVER DYNAMIC_TARGET
-    DYNAMIC_TARGET_LATITUDE_OFFSET=50
-    DYNAMIC_TARGET_LONGITUDE_OFFSET=50
+    DYNAMIC_TARGET_LATITUDE_OFFSET=35
+    DYNAMIC_TARGET_LONGITUDE_OFFSET=-156
 )
 sbs_target(parafoil-t-approach-dynamic stm32f429zi_death_stack_v2)
 
diff --git a/src/Parafoil/Configs/SensorsConfig.h b/src/Parafoil/Configs/SensorsConfig.h
index 5cf4c208fc3a917fa222c58199ad00c1ffde3ff0..8a59372446b1a660a0d22f33872963d84d7422e5 100644
--- a/src/Parafoil/Configs/SensorsConfig.h
+++ b/src/Parafoil/Configs/SensorsConfig.h
@@ -55,7 +55,7 @@ constexpr auto ACC_GYRO_ODR = Boardcore::BMX160Config::OutputDataRate::HZ_200;
 constexpr auto MAG_ODR      = Boardcore::BMX160Config::OutputDataRate::HZ_100;
 
 static const Boardcore::AxisOrthoOrientation AXIS_ORIENTATION = {
-    Boardcore::Direction::POSITIVE_Z, Boardcore::Direction::POSITIVE_Y};
+    Boardcore::Direction::NEGATIVE_Z, Boardcore::Direction::POSITIVE_Y};
 
 constexpr auto TEMP_DIVIDER   = 1000;
 constexpr auto FIFO_WATERMARK = 40;
diff --git a/src/Parafoil/StateMachines/FlightModeManager/FlightModeManager.cpp b/src/Parafoil/StateMachines/FlightModeManager/FlightModeManager.cpp
index 562f73a0f1fffee3b2ade80f0191723c08419a1e..24eb3dffe58f19a8e48b197ac992c19621cd5fb5 100644
--- a/src/Parafoil/StateMachines/FlightModeManager/FlightModeManager.cpp
+++ b/src/Parafoil/StateMachines/FlightModeManager/FlightModeManager.cpp
@@ -233,8 +233,7 @@ State FlightModeManager::PreFlightSensorCalibration(const Event& event)
     {
         case EV_ENTRY:
         {
-            updateState(
-                FlightModeManagerState::PRE_FLIGHT_ALGORITHM_CALIBRATION);
+            updateState(FlightModeManagerState::PRE_FLIGHT_SENSOR_CALIBRATION);
 
             // Wait for sensors to stabilize before calibration
             // The first few LPS28DFW samples contain garbage data
diff --git a/src/Parafoil/StateMachines/NASController/NASController.cpp b/src/Parafoil/StateMachines/NASController/NASController.cpp
index d3f7dce6c60ee85b01a6cad360f8e0d689edfb77..bc8de17faa7c785fbad86aa606a8d8652df0e99f 100644
--- a/src/Parafoil/StateMachines/NASController/NASController.cpp
+++ b/src/Parafoil/StateMachines/NASController/NASController.cpp
@@ -282,8 +282,7 @@ void NASController::update()
     // Perform initial NAS prediction
     nas.predictGyro(imu);
     nas.predictAcc(imu);
-
-    // NOTE: Magnetometer correction has been disabled
+    nas.correctMag(imu);
 
     if (lastGpsTimestamp < gps.gpsTimestamp && gps.fix == 3 &&
         accLength < Config::NAS::DISABLE_GPS_ACCELERATION_THRESHOLD)