diff --git a/CMakeLists.txt b/CMakeLists.txt
index cba4040645c7a0fe07b0c285bc6532b0a760087b..b2bdb2ce11c30384f96f9031dc89284554c953a6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -47,3 +47,8 @@ add_executable(parafoil-t-approach-jesolo src/entrypoints/Parafoil/parafoil-entr
 target_include_directories(parafoil-t-approach-jesolo PRIVATE ${OBSW_INCLUDE_DIRS})
 target_compile_definitions(parafoil-t-approach-jesolo PRIVATE EARLY_MANEUVER JESOLO)
 sbs_target(parafoil-t-approach-jesolo stm32f429zi_skyward_death_stack_x)
+
+add_executable(parafoil-t-approach-milano src/entrypoints/Parafoil/parafoil-entry.cpp ${PARAFOIL_COMPUTER})
+target_include_directories(parafoil-t-approach-milano PRIVATE ${OBSW_INCLUDE_DIRS})
+target_compile_definitions(parafoil-t-approach-milano PRIVATE EARLY_MANEUVER MILANO)
+sbs_target(parafoil-t-approach-milano stm32f429zi_skyward_death_stack_x)
diff --git a/src/boards/Parafoil/Configs/WingConfig.h b/src/boards/Parafoil/Configs/WingConfig.h
index 98ef9c547d5c474cae7af7a89e7b1918a0940580..16cbf6f6d808dec3af76fb3991e56cf37bd62b47 100644
--- a/src/boards/Parafoil/Configs/WingConfig.h
+++ b/src/boards/Parafoil/Configs/WingConfig.h
@@ -36,7 +36,7 @@ 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;
 #elif ROTATION
@@ -46,8 +46,8 @@ constexpr int SELECTED_ALGORITHM = 0;
 #endif
 
 #if defined(JESOLO)
-constexpr float DEFAULT_TARGET_LAT = 45.565835;
-constexpr float DEFAULT_TARGET_LON = 12.577307;
+constexpr float DEFAULT_TARGET_LAT = 45.565264;
+constexpr float DEFAULT_TARGET_LON = 12.577050;
 #else  // Milan
 constexpr float DEFAULT_TARGET_LAT = 45.5013853;
 constexpr float DEFAULT_TARGET_LON = 9.1544219;
@@ -66,7 +66,7 @@ constexpr int GUIDANCE_M2_ALTITUDE_THRESHOLD     = 150;  //[m]
 constexpr int GUIDANCE_TARGET_ALTITUDE_THRESHOLD = 50;   //[m]
 
 // TODO check this parameter preflight
-constexpr float KP = 1.3537;
+constexpr float KP = 0.9;
 constexpr float KI = 0.0111;
 
 constexpr float ALTITUDE_TRIGGER_DEPLOYMENT_ALTITUDE = 300;  // [meters]