diff --git a/src/boards/DeathStack/configs/ADAConfig.h b/src/boards/DeathStack/configs/ADAConfig.h
index c569e60c596a8aee1fce662c355bd4434b7348fe..b2449e9a203322ddfb8064c93e09e74c0c425133 100644
--- a/src/boards/DeathStack/configs/ADAConfig.h
+++ b/src/boards/DeathStack/configs/ADAConfig.h
@@ -49,19 +49,19 @@ constexpr unsigned int DEPLOYMENT_N_SAMPLES = 5;
 // > 0: Apogee detected ahead of time (while still going up)
 constexpr float APOGEE_VERTICAL_SPEED_TARGET = 2.5;
 // When the vertical speed is smaller than this value, airbrakes are disabled.
-constexpr float ABK_DISABLE_VERTICAL_SPEED_TARGET = 7.5;
+constexpr float ABK_DISABLE_VERTICAL_SPEED_TARGET = 10.0;
 
 // State timeouts
 #ifdef EUROC
 static const unsigned int TIMEOUT_ADA_SHADOW_MODE     = 8.5 * 1000;  // ms
 #else
-static const unsigned int TIMEOUT_ADA_SHADOW_MODE     = 6.5 * 1000;  // ms
+static const unsigned int TIMEOUT_ADA_SHADOW_MODE     = 8 * 1000;  // ms
 #endif
 
 static const unsigned int TIMEOUT_ADA_P_STABILIZATION = 5 * 1000;    // ms
 
 // Number of samples used to calibrate the kalman initial state
-static const unsigned int CALIBRATION_BARO_N_SAMPLES = 200;  // 1200;
+static const unsigned int CALIBRATION_BARO_N_SAMPLES = 500;
 
 // Default reference values settings
 static const float DEFAULT_REFERENCE_TEMPERATURE = 288.15f;
diff --git a/src/boards/DeathStack/configs/AirBrakesConfig.h b/src/boards/DeathStack/configs/AirBrakesConfig.h
index 0244295346f5be6265ba0b837bf4a3be1f9babb3..0f684634eb7c2b4abc3f1252f16f2564f3108d86 100644
--- a/src/boards/DeathStack/configs/AirBrakesConfig.h
+++ b/src/boards/DeathStack/configs/AirBrakesConfig.h
@@ -42,7 +42,7 @@ static constexpr PWMChannel AB_SERVO_PWM_CH = PWMChannel::CH2;
 #ifdef EUROC
 static constexpr float M = 27.0; /**< rocket's mass */
 #else
-static constexpr float M                  = 19.2;         /**< rocket's mass */
+static constexpr float M                  = 18.362;       /**< rocket's mass */
 #endif
 
 static constexpr float D        = 0.15; /**< rocket's diameter */
@@ -74,7 +74,7 @@ static constexpr float AB_SERVO_WIGGLE_AMPLITUDE = 10.0;         // deg
 #ifdef ROCCARASO
 // At Roccaraso airbrakes opened at 100%, then 50% and then 0%
 // Each opening is kept for 3 seconds (3000 ms)
-static constexpr float AB_OPENING_TIMEOUT = 3000; // [ms]
+static constexpr float AB_OPENING_TIMEOUT = 3000;  // [ms]
 #endif
 
 // Control algorithm configs
diff --git a/src/boards/DeathStack/configs/FlightStatsConfig.h b/src/boards/DeathStack/configs/FlightStatsConfig.h
index eb7fe88fc016a12ea6f3e4f1af232ff0e9972d46..5ad3133d7429ad44aa19f26a6cfa789435a50837 100644
--- a/src/boards/DeathStack/configs/FlightStatsConfig.h
+++ b/src/boards/DeathStack/configs/FlightStatsConfig.h
@@ -30,8 +30,8 @@ namespace DeathStackBoard
 namespace FlightStatsConfig
 {
 static constexpr long long TIMEOUT_LIFTOFF_STATS    = 7500;   // [ms]
-static constexpr long long TIMEOUT_APOGEE_STATS     = 1500;   // [ms]
-static constexpr long long TIMEOUT_DROGUE_DPL_STATS = 10000;  // [ms]
+static constexpr long long TIMEOUT_APOGEE_STATS     = 1000;   // [ms]
+static constexpr long long TIMEOUT_DROGUE_DPL_STATS = 5000;  // [ms]
 static constexpr long long TIMEOUT_MAIN_DPL_STATS   = 10000;  // [ms]
 }  // namespace FlightStatsConfig
 
diff --git a/src/boards/DeathStack/configs/NASConfig.h b/src/boards/DeathStack/configs/NASConfig.h
index 760f047f875a13d317c803b4205266566cb3a088..ab58022d129848f081a3ef0e7227f704befb7d6d 100644
--- a/src/boards/DeathStack/configs/NASConfig.h
+++ b/src/boards/DeathStack/configs/NASConfig.h
@@ -39,30 +39,30 @@ static const float SAMPLE_RATE = 1000.0F / NAS_UPDATE_PERIOD;  // [Hz]
 
 static const float T = 1.0F / SAMPLE_RATE;  // [s]
 
-static const uint32_t CALIBRATION_N_SAMPLES = 200;
+static const uint32_t CALIBRATION_N_SAMPLES = 500;
 
 static const float SIGMA_BETA =
     (float)1e-2;  // [Rad/s^2]
                   // Estimated gyroscope bias variance
 
-static const float SIGMA_MAG = 0.7089F;  // [uT^2]
+static const float SIGMA_MAG = 0.7089F * 10;  // [uT^2]
                                          // Estimated magnetometer variance
 
-static const float SIGMA_W = 0.000027927F;  // [Rad^2]
+static const float SIGMA_W = 0.000027927F * 100;  // [rad^2]
                                             // Estimated gyroscope variance
 
-static const float SIGMA_GPS = 2.0F;  // [deg^2]
+static const float SIGMA_GPS = 10.0F;  // [m^2]
                                       // Estimated GPS variance
 
 static const float SIGMA_BAR = 4.3665F;  // [kPa^2]
                                          // Estimated barometer variance
 
 static const float SIGMA_POS =
-    0.0192F;  // [m^2]
+    0.0192F * 100;  // [m^2]
               // Estimated variance of the position noise
 
 static const float SIGMA_VEL =
-    0.096F;  // [(m/s)^2]
+    0.096F * 100;  // [(m/s)^2]
              // Estimated variance of the velocity noise
 
 static const float P_POS = 0.01F;  // Position prediction covariance
@@ -128,7 +128,7 @@ static const float EMF = 46.77F;  // [uT] micro Tesla
                                   // check if there's magnetic jamming
 
 static const Vector3f NED_MAG(
-    0.5248, 0.0356, 0.8505);  // Normalized magnetic field vector at Roccaraso
+    0.524848, 0.035602, 0.850451);  // Normalized magnetic field vector at Roccaraso
 #endif
 
 // normalized magentic field at Milano
diff --git a/src/boards/DeathStack/configs/SensorsConfig.h b/src/boards/DeathStack/configs/SensorsConfig.h
index d3e7721e72de2fb68872c683c26bf94906782bc7..f8135dcb9fd56dd86f0f93c5ea6bfa8a66a05435 100644
--- a/src/boards/DeathStack/configs/SensorsConfig.h
+++ b/src/boards/DeathStack/configs/SensorsConfig.h
@@ -81,6 +81,8 @@ static constexpr unsigned int SAMPLE_PERIOD_PRESS_DPL =
 static constexpr unsigned int SAMPLE_PERIOD_PRESS_STATIC =
     SAMPLE_PERIOD_ADC_ADS1118 * 4;
 
+static constexpr unsigned int PRESS_PITOT_CALIB_SAMPLES_NUM = 500;
+
 static constexpr BMX160Config::AccelerometerRange IMU_BMX_ACC_FULLSCALE_ENUM =
     BMX160Config::AccelerometerRange::G_16;
 static constexpr BMX160Config::GyroscopeRange IMU_BMX_GYRO_FULLSCALE_ENUM =