diff --git a/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/config.h b/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/config.h
index 4d926f8..7f73ef9 100644
--- a/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/config.h
+++ b/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/config.h
@@ -28,11 +28,12 @@
 #define LINEAR_MODE     0     // command is linear (0), or linear but with a large deadband set using servo_start etc (1)
 #define DROP            true  // R2Home's version, drop or motorised
 
-#define DESCENT_TIMER   1000  
-#define GLIDING_TIMER   3000
-#define DEP_ALT         100   // m above ground  
-#define VUP             1     // m/s 
-#define VDOWN           -1.5    // m/s
+#define DESCENT_TIMER   15000  
+#define OPENING_TIMER   6000
+#define SPIRAL_RECOVER  5000
+#define DEP_ALT         300   // m above ground  
+#define VUP             5     // m/s 
+#define VDOWN           -6    // m/s
 
 #define NKP   1
 #define NKI   0.05
diff --git a/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/flight_state.hpp b/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/flight_state.hpp
index 76be99d..feca56e 100644
--- a/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/flight_state.hpp
+++ b/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/flight_state.hpp
@@ -8,6 +8,7 @@ bool flight_started = false;
 bool deployed     = false; 
 bool wing_opened  = false; 
 bool spiral = false;
+unsigned long spiral_time = 0; 
 unsigned long init_time = 0; 
 
 
@@ -155,9 +156,10 @@ void flight_gliding_auto() {
 
   if (is_descent(v_down(-5), 0)) {
     spiral = true; 
+    spiral_time = millis();
   }
 
-  if (is_ascent(v_down(-2), 0)) {
+  if (millis()-spiral_time>SPIRAL_RECOVER) {
     spiral = false;
   }