diff --git a/Control/Jetson/gps_recorder.py b/Control/Jetson/gps_recorder.py
index 4996a75..17bd193 100644
--- a/Control/Jetson/gps_recorder.py
+++ b/Control/Jetson/gps_recorder.py
@@ -31,3 +31,13 @@ if __name__ == "__main__":
                 gps_file.close()
                 exit(0)
             i = o = e = None
+
+
+{"lat": 51.5136859, "lon": -1.9877412},
+{"lat": 51.5136561, "lon": -1.9877741},
+{"lat": 51.5135884, "lon": -1.9878123},
+{"lat": 51.5135033, "lon": -1.9878121},
+{"lat": 51.5134414, "lon": -1.9877873},
+{"lat": 51.5133871, "lon": -1.9877211},
+{"lat": 51.5133487, "lon": -1.9876391},
+{"lat": 51.5133224, "lon": -1.9875018}
diff --git a/Control/Pi/PCU_status_server/public/index.html b/Control/Pi/PCU_status_server/public/index.html
index 47dd383..af6e779 100644
--- a/Control/Pi/PCU_status_server/public/index.html
+++ b/Control/Pi/PCU_status_server/public/index.html
@@ -44,13 +44,13 @@
 
 <script>
     var initCoords = {
-            lat: 52.216531,
-            lon: -2.22221
+            lat: 51.513318,
+            lon: -1.987528
                 //GPS: LAT: 52.2165315 LON: -2.2222162 = Worcester
 
         } //change this to relevant starting place
     var map = new google.maps.Map(document.getElementById('map'), {
-        zoom: 18,
+        zoom: 17,
         tilt: 0,
         center: new google.maps.LatLng(initCoords.lat, initCoords.lon),
         mapTypeId: google.maps.MapTypeId.SATELLITE
@@ -238,4 +238,4 @@
     }, 500);
 </script>
 
-</html>
\ No newline at end of file
+</html>
diff --git a/Control/Pi/dronekit_class.py b/Control/Pi/dronekit_class.py
index bf235df..5c422ec 100644
--- a/Control/Pi/dronekit_class.py
+++ b/Control/Pi/dronekit_class.py
@@ -62,7 +62,7 @@ class DroneInterface:
         self.log.info("Connected to ardurover")
         self.pallet_proximity_sensor = PalletProximity()
         self.pallet_min_distance = 22  # TODO: calibrate this
-        self.pallet_max_distance = 55  # TODO: calibrate this
+        self.pallet_max_distance = 110  # TODO: calibrate this
         self.log.info("Connected to pallet proximity sensor")
         self.print_status()
 
diff --git a/Control/Pi/previous_mag_cal b/Control/Pi/previous_mag_cal
index 5cb5b16..3e78766 100644
--- a/Control/Pi/previous_mag_cal
+++ b/Control/Pi/previous_mag_cal
@@ -1 +1 @@
--17.25;18.95;-43.8;-13.95;-0.75;28.875
+-22.8;17.25;-41.85;-7.65;2.7750000000000004;24.75
\ No newline at end of file
diff --git a/Control/Pi/proximity_detector.py b/Control/Pi/proximity_detector.py
index 7e92b96..15ffe9c 100644
--- a/Control/Pi/proximity_detector.py
+++ b/Control/Pi/proximity_detector.py
@@ -102,7 +102,7 @@ class Proximity:
                 self.log.warning(f"Detected distance {dist} on sensor {sensor+1} ({'front' if front_detect else 'rear'}), it is below {self.limit_cm}")
                 self.proximity_stopped = True
                 _, prev_state = self.state_machine.get_state()
-                if prev_state == "NAVIGATING_TO_POINT_VISION" and front_detect:
+                if prev_state in ["NAVIGATING_TO_POINT_VISION", "MANIPULATING_CARGO"]  and front_detect:
                     self.log.warning("Because we are in vision navigation, we are not stopping as this is likely caused by the pallet")
                 else:
                     self.log.warning(f"Stopping!")