diff --git a/app/gl_barrier.c b/app/gl_barrier.c
index 8ad72a7..85c1247 100644
--- a/app/gl_barrier.c
+++ b/app/gl_barrier.c
@@ -30,7 +30,7 @@ void RunBarrier()
     } else if (barrier_type == BARRIER_LEFT_RUNNING) {
         track_type   = TRACK_RIGHT;
         time_barrier = timer_get(TIM_3);
-        if (time_barrier >= 1000) {
+        if (time_barrier >= 250) {
             barrier_type = BARRIER_NONE;
             track_type   = TRACK_RIGHT;
             timer_start(TIM_3);
@@ -53,7 +53,7 @@ void RunBarrier()
     } else if (barrier_type == BARRIER_RIGHT_RUNNING) {
         track_type   = TRACK_LEFT;
         time_barrier = timer_get(TIM_3);
-        if (time_barrier >= 1000) {
+        if (time_barrier >= 250) {
             timer_start(TIM_3);
             timer_clear(TIM_3);
             barrier_type = BARRIER_NONE;
diff --git a/app/gl_tracking.c b/app/gl_tracking.c
index 86915b2..183e291 100644
--- a/app/gl_tracking.c
+++ b/app/gl_tracking.c
@@ -248,9 +248,10 @@ void MidLineTrack()
         float temp_near = 0;
         if (barrier_type == BARRIER_LEFT_BEGIN || barrier_type == BARRIER_LEFT_RUNNING) {
             dx_near    = mid_track[aim_idx_near][1] - cx + barrier_offset;
-            pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * dx / dn) / PI32 * 180.0f - 10;
+            pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * dx / dn) / PI32 * 180.0f - 20;
         } else if (barrier_type == BARRIER_RIGHT_BEGIN || barrier_type == BARRIER_RIGHT_RUNNING ) {
             dx_near    = mid_track[aim_idx_near][1] - cx - barrier_offset;
+            pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * dx / dn) / PI32 * 180.0f + 20;
         } else {
             if (fabs(cx - near_x1) > fabs(cx - near_x2))
             {