diff --git a/app/src/lib/gait.ts b/app/src/lib/gait.ts
index 9d7257f..e760407 100644
--- a/app/src/lib/gait.ts
+++ b/app/src/lib/gait.ts
@@ -68,7 +68,7 @@ export abstract class GaitState {
 
     map_command(command: ControllerCommand) {
         const newCommand = {
-            step_height: 0.4 + (command.s1 + 1) / 2,
+            step_height: command.s1,
             step_x: command.ly,
             step_z: -command.lx,
             step_velocity: command.s,
diff --git a/app/src/lib/stores/model-store.ts b/app/src/lib/stores/model-store.ts
index c8f3cd7..1c14b76 100644
--- a/app/src/lib/stores/model-store.ts
+++ b/app/src/lib/stores/model-store.ts
@@ -50,5 +50,5 @@ export const input: Writable<ControllerInput> = writable({
     right: { x: 0, y: 0 },
     height: 0.5,
     speed: 0.5,
-    s1: 0.05
+    s1: 0.5
 })