diff --git a/app/src/lib/gait.ts b/app/src/lib/gait.ts
index df8e504..f77b24b 100644
--- a/app/src/lib/gait.ts
+++ b/app/src/lib/gait.ts
@@ -111,8 +111,8 @@ export class StandState extends GaitState {
 
   step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
     body_state.omega = 0
-    body_state.phi = command.rx
-    body_state.psi = command.ry
+    body_state.phi = command.rx * 10 * (Math.PI / 2)
+    body_state.psi = command.ry * 10 * (Math.PI / 2)
     body_state.xm = command.ly / 4
     body_state.zm = command.lx / 4
     body_state.feet = this.default_feet_pos
diff --git a/esp32/include/motion.h b/esp32/include/motion.h
index 5c6e363..4c6920d 100644
--- a/esp32/include/motion.h
+++ b/esp32/include/motion.h
@@ -64,8 +64,8 @@ class MotionService {
 
         switch (motionState) {
             case MOTION_STATE::STAND: {
-                body_state.phi = command.rx; // * 0.254f;
-                body_state.psi = command.ry; // * 0.254f;
+                body_state.phi = command.rx * 10 * (float)M_PI_2;
+                body_state.psi = command.ry * 10 * (float)M_PI_2;
                 body_state.xm = command.ly / 4;
                 body_state.zm = command.lx / 4;
                 body_state.updateFeet(kinematics.default_feet_positions);