diff --git a/Control/Pi/dronekit_class.py b/Control/Pi/dronekit_class.py
index 6c251ae..89dfb51 100644
--- a/Control/Pi/dronekit_class.py
+++ b/Control/Pi/dronekit_class.py
@@ -61,7 +61,7 @@ class DroneInterface:
         self.estop_engaged = False
         self.log.info("Connected to ardurover")
         self.pallet_proximity_sensor = PalletProximity()
-        self.pallet_min_distance = 20  # TODO: calibrate this
+        self.pallet_min_distance = 22  # TODO: calibrate this
         self.log.info("Connected to pallet proximity sensor")
         self.print_status()
 
@@ -412,6 +412,6 @@ class DroneInterface:
                 self.override_stop()
                 self.clear_override_channels()
             else:
-                self.log.info(f"Distance to pallet ({distance_to_pallet} m), moving forward...")
+                self.log.info(f"Distance to pallet ({distance_to_pallet} cm), moving forward...")
                 target_speed_pwm = 1930
                 self.set_vehicle_speed(target_speed_pwm)
diff --git a/Control/Pi/main_server.py b/Control/Pi/main_server.py
index ef39c24..1b73198 100755
--- a/Control/Pi/main_server.py
+++ b/Control/Pi/main_server.py
@@ -300,7 +300,7 @@ def get_steering():
 @app.route('/approach_pallet', methods=['POST'])
 def approach_pallet():
     FORKLIFT.approach_pallet()
-    return jsonify({'Success': True, 'estop': 'engaged'})
+    return jsonify({'Success': True})
 
 # @app.route('/close', methods=['POST'])
 # def close_forklift():