diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/csonecontrollertab.ui b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/csonecontrollertab.ui
index a67692b9bb8d81f01c6bc45aefce9c8eb142816a..20626a719c5b1e82026169fd726c613d4107f1bc 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/csonecontrollertab.ui
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/csonecontrollertab.ui
@@ -635,7 +635,7 @@
             </font>
            </property>
            <property name="text">
-            <string>0.2</string>
+            <string>0.016</string>
            </property>
            <property name="alignment">
             <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@@ -662,7 +662,7 @@
             </font>
            </property>
            <property name="text">
-            <string>1.5</string>
+            <string>4.0</string>
            </property>
            <property name="alignment">
             <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/csonecontrollertab.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/csonecontrollertab.cpp
index 7ee1c19afdc374c922093685d23670dfb8dab710..1c58ecd9a24461a58011dfc53886e9b0d1624115 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/csonecontrollertab.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/csonecontrollertab.cpp
@@ -259,9 +259,9 @@ void CsoneControllerTab::on_perform_step_button_clicked()
             temp_duration = 2.0;
             ui->lineEdit_step_duration->setText(QString::number( temp_duration, 'f', 0));
         }
-        else if (temp_duration > 60.0)
+        else if (temp_duration > 20.0)
         {
-            temp_duration = 60.0;
+            temp_duration = 20.0;
             ui->lineEdit_step_duration->setText(QString::number( temp_duration, 'f', 0));
         }
         // Update the global variable