diff --git a/rp2040/src/main.rs b/rp2040/src/main.rs
index c131ffe..49187d6 100644
--- a/rp2040/src/main.rs
+++ b/rp2040/src/main.rs
@@ -60,7 +60,7 @@ pub const GIMBAL_AXIS_LEFT_Y: usize = 1;
 pub const GIMBAL_AXIS_RIGHT_X: usize = 2;
 pub const GIMBAL_AXIS_RIGHT_Y: usize = 3;
 
-// Create an instance with suitable settings.
+// Analog smoothing settings.
 pub const BASE_FREQ: i32 = 2 << I32_FRAC_BITS;
 pub const SAMPLE_FREQ: i32 = 1000 << I32_FRAC_BITS;
 pub const SENSITIVITY: i32 = (0.01 * ((1 << I32_FRAC_BITS) as f32)) as i32;
@@ -69,7 +69,6 @@ pub const SENSITIVITY: i32 = (0.01 * ((1 << I32_FRAC_BITS) as f32)) as i32;
 #[derive(Copy, Clone, Default)]
 pub struct Button {
     pub pressed: bool,
-    pub previous_pressed: bool,
     pub fn_mode: u8,
 }
 
@@ -94,7 +93,7 @@ impl Default for GimbalAxis {
             min: AXIS_MIN,
             center: AXIS_CENTER,
             fn_mode: 0,
-            deadzone: (500, 50, 500),
+            deadzone: (50, 50, 50),
             expo: 0.2,
         }
     }
@@ -170,6 +169,19 @@ fn main() -> ! {
     // Initialize button matrix
     button_matrix.init_pins();
 
+    // Scan matrix to get initial state
+    for _ in 0..10 {
+        button_matrix.scan_matrix(&mut delay);
+    }
+
+    // Fallback way to enter bootloader
+    if button_matrix.buttons_pressed()[0] {
+        status_led.update(StatusMode::Bootloader);
+        let gpio_activity_pin_mask: u32 = 0;
+        let disable_interface_mask: u32 = 0;
+        rp2040_hal::rom_data::reset_to_usb_boot(gpio_activity_pin_mask, disable_interface_mask);
+    }
+
     // Configure USB
     let usb_bus = UsbBusAllocator::new(waveshare_rp2040_zero::hal::usb::UsbBus::new(
         pac.USBCTRL_REGS,
@@ -220,9 +232,24 @@ fn main() -> ! {
 
     // Set up left gimbal Y axis as full range without return to center spring
     axis[GIMBAL_AXIS_LEFT_Y].idle_value = AXIS_MIN;
-    axis[GIMBAL_AXIS_LEFT_Y].deadzone = (500, 0, 500);
+    axis[GIMBAL_AXIS_LEFT_Y].deadzone = (50, 0, 50);
     axis[GIMBAL_AXIS_LEFT_Y].expo = 0.0;
 
+    // Manual calibation values
+    // TODO: add external EEPROM and make calibration routine
+    axis[GIMBAL_AXIS_LEFT_X].center = AXIS_CENTER;
+    axis[GIMBAL_AXIS_LEFT_X].max = AXIS_MAX - 450;
+    axis[GIMBAL_AXIS_LEFT_X].min = AXIS_MIN + 500;
+    axis[GIMBAL_AXIS_LEFT_Y].center = AXIS_CENTER + 105;
+    axis[GIMBAL_AXIS_LEFT_Y].max = AXIS_MAX - 250;
+    axis[GIMBAL_AXIS_LEFT_Y].min = AXIS_MIN + 500;
+    axis[GIMBAL_AXIS_RIGHT_X].center = AXIS_CENTER - 230;
+    axis[GIMBAL_AXIS_RIGHT_X].max = AXIS_MAX - 700;
+    axis[GIMBAL_AXIS_RIGHT_X].min = AXIS_MIN + 350;
+    axis[GIMBAL_AXIS_RIGHT_Y].center = AXIS_CENTER - 68;
+    axis[GIMBAL_AXIS_RIGHT_Y].max = AXIS_MAX - 700;
+    axis[GIMBAL_AXIS_RIGHT_Y].min = AXIS_MIN + 450;
+
     // Create dynamic smoother array for gimbal axis
     // TODO: Find a way to store dynamic smoother in the axis struct
     let mut smoother: [DynamicSmootherEcoI32; NBR_OF_GIMBAL_AXIS] = [
@@ -232,19 +259,6 @@ fn main() -> ! {
         DynamicSmootherEcoI32::new(BASE_FREQ, SAMPLE_FREQ, SENSITIVITY),
     ];
 
-    // Scan matrix to get initial state
-    for _ in 0..10 {
-        button_matrix.scan_matrix(&mut delay);
-    }
-
-    // Check if first key is pressed while power on. If yes then enter bootloader
-    if button_matrix.buttons_pressed()[0] {
-        status_led.update(StatusMode::Bootloader);
-        let gpio_activity_pin_mask: u32 = 0;
-        let disable_interface_mask: u32 = 0;
-        rp2040_hal::rom_data::reset_to_usb_boot(gpio_activity_pin_mask, disable_interface_mask);
-    }
-
     loop {
         if status_led_count_down.wait().is_ok() {
             update_status_led(&mut status_led, &mode);