diff --git a/src/boards/Parafoil/Configs/ActuatorsConfigs.h b/src/boards/Parafoil/Configs/ActuatorsConfigs.h
index bd078fcaa03912c33b492b80704f70192ed1cb83..ac98d32bc045775e49842ad0a900c3525e8ae3e4 100644
--- a/src/boards/Parafoil/Configs/ActuatorsConfigs.h
+++ b/src/boards/Parafoil/Configs/ActuatorsConfigs.h
@@ -52,8 +52,8 @@ constexpr Boardcore::TimerUtils::Channel SERVO_2_PWM_CH =
     Boardcore::TimerUtils::Channel::CHANNEL_2;
 
 constexpr float RIGHT_SERVO_ROTATION  = SERVO_ROTATION;  // [deg]
-constexpr float RIGHT_SERVO_MIN_PULSE = 2500;            // [us]
-constexpr float RIGHT_SERVO_MAX_PULSE = 500;             // [us]
+constexpr float RIGHT_SERVO_MIN_PULSE = 500;             // [us]
+constexpr float RIGHT_SERVO_MAX_PULSE = 2500;            // [us]
 
 }  // namespace ActuatorsConfigs
 
diff --git a/src/boards/Parafoil/Configs/WingConfig.h b/src/boards/Parafoil/Configs/WingConfig.h
index 822063cf16d96610943a73f96836cbf3dd57ed0c..d316cf9b675b6e97dc459daa5388deb7518ea943 100644
--- a/src/boards/Parafoil/Configs/WingConfig.h
+++ b/src/boards/Parafoil/Configs/WingConfig.h
@@ -68,7 +68,8 @@ constexpr int SELECTED_ALGORITHM   = 3;
 #else
 constexpr int SELECTED_ALGORITHM   = 0;
 #endif
-constexpr float MAX_SERVO_APERTURE = 0.5;
+constexpr float OFFSET             = 0.25;
+constexpr float MAX_SERVO_APERTURE = 0.5 + OFFSET;
 // Wing altitude checker configs
 constexpr int WING_ALTITUDE_TRIGGER_CONFIDENCE = 10;  // [number of sample]
 constexpr int WING_ALTITUDE_TRIGGER_FALL       = 50;  // [meters]
diff --git a/src/boards/Parafoil/Sensors/Sensors.cpp b/src/boards/Parafoil/Sensors/Sensors.cpp
index 84141eeedf94be8b6fc2c5944c9ef114440e92ae..c071812fbfe1c2e222b68147a7b910a46cb2c702 100644
--- a/src/boards/Parafoil/Sensors/Sensors.cpp
+++ b/src/boards/Parafoil/Sensors/Sensors.cpp
@@ -58,7 +58,7 @@ bool Sensors::startModule()
     // Initialize all the sensors
     lis3mdlInit();
     ms5803Init();
-    // ubxGpsInit();
+    ubxGpsInit();
     ads1118Init();
     internalADCInit();
     batteryVoltageInit();
diff --git a/src/boards/Parafoil/StateMachines/WingController/WingController.cpp b/src/boards/Parafoil/StateMachines/WingController/WingController.cpp
index 0f3245542af42784cef3d92d0ef007b5ed76f12f..9ac3120e8353bb11658d4ff46d6d36c6205cf77c 100644
--- a/src/boards/Parafoil/StateMachines/WingController/WingController.cpp
+++ b/src/boards/Parafoil/StateMachines/WingController/WingController.cpp
@@ -187,6 +187,8 @@ State WingController::state_controlled_descent(const Boardcore::Event& event)
                      .get<NASController>()
                      ->getNasState()
                      .e});
+
+            ModuleManager::getInstance().get<Actuators>()->setOffset(OFFSET);
             startAlgorithm();
             return HANDLED;
         }
diff --git a/src/entrypoints/Parafoil/parafoil-entry.cpp b/src/entrypoints/Parafoil/parafoil-entry.cpp
index 7fe08fe8e26b5544560345c92f74176b70ad25f4..865bfe46ad73cddbe8efceac3fd1bcdfa431af23 100644
--- a/src/entrypoints/Parafoil/parafoil-entry.cpp
+++ b/src/entrypoints/Parafoil/parafoil-entry.cpp
@@ -258,10 +258,8 @@ int main()
         {
             loadCell.sample();
 
-            printf("[%.1f] %f\n", loadCell.getLastSample().loadTimestamp / 1e6,
-                   loadCell.getLastSample().load);
             Logger::getInstance().log(loadCell.getLastSample());
-            Thread::sleep(1.0 / 80.0);
+            Thread::sleep(1000.0 / 80.0);
         }
         Logger::getInstance().log(CpuMeter::getCpuStats());
         CpuMeter::resetCpuStats();