diff --git a/Drone/client_config.ini b/Drone/client_config.ini
index 487f309..cc88ce5 100644
--- a/Drone/client_config.ini
+++ b/Drone/client_config.ini
@@ -26,21 +26,22 @@ y_ratio = 1.0
 z_ratio = 1.0
 
 [COPTERS]
-frame_id = map
+frame_id = floor
 takeoff_height = 1.0
 takeoff_time = 5.0
 safe_takeoff = False
 reach_first_point_time = 5.0
 land_time = 3.0
+land_timeout = 6.0
 x0_common = 0
 y0_common = 0
 z0_common = 0
 
 [FLOOR FRAME]
 parent = aruco_map
-x = 0.0
-y = 0.0
-z = 3.55
+x = 2.4
+y = 12.4
+z = 6.27
 roll = 180
 pitch = 0
 yaw = -90
@@ -48,7 +49,7 @@ yaw = -90
 [PRIVATE]
 id = /hostname
 restart_dhcpcd = True
-use_leds = True
+use_leds = False
 led_pin = 21
 x0 = 0
 y0 = 0
diff --git a/Drone/copter_client.py b/Drone/copter_client.py
index 1583c53..2ad14bc 100644
--- a/Drone/copter_client.py
+++ b/Drone/copter_client.py
@@ -82,6 +82,7 @@ class CopterClient(client.Client):
         self.SAFE_TAKEOFF = self.config.getboolean('COPTERS', 'safe_takeoff')
         self.RFP_TIME = self.config.getfloat('COPTERS', 'reach_first_point_time')
         self.LAND_TIME = self.config.getfloat('COPTERS', 'land_time')
+        self.LAND_TIMEOUT = self.config.getfloat('COPTERS', 'land_timeout')
         self.X0_COMMON = self.config.getfloat('COPTERS', 'x0_common')
         self.Y0_COMMON = self.config.getfloat('COPTERS', 'y0_common')
         self.Z0_COMMON = self.config.getfloat('COPTERS', 'z0_common')
@@ -645,7 +646,7 @@ def _play_animation(*args, **kwargs):
     # Land
     task_manager.add_task(land_time, 0, animation.land,
                     task_kwargs={
-                        "timeout": client.active_client.TAKEOFF_TIME,
+                        "timeout": client.active_client.LAND_TIMEOUT,
                         "frame_id": client.active_client.FRAME_ID,
                         "use_leds": client.active_client.USE_LEDS,
                     },