diff --git a/src/modelec_strat/src/missions/test.go_home_mission.cpp b/src/modelec_strat/src/missions/test.go_home_mission.cpp
index c81c683..0d2938d 100644
--- a/src/modelec_strat/src/missions/test.go_home_mission.cpp
+++ b/src/modelec_strat/src/missions/test.go_home_mission.cpp
@@ -43,7 +43,7 @@ namespace Modelec
 
         case AWAIT_10S:
             {
-                nav_->GoTo(370, 1600, -M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
+                nav_->GoTo(375, 1600, -M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
 
                 step_ = GO_HOME;
             }
diff --git a/src/modelec_strat/src/pathfinding.cpp b/src/modelec_strat/src/pathfinding.cpp
index 06f9628..a73da46 100644
--- a/src/modelec_strat/src/pathfinding.cpp
+++ b/src/modelec_strat/src/pathfinding.cpp
@@ -530,7 +530,6 @@ namespace Modelec
             else
             {
                 wp.theta = goal->theta;
-                wp.x += goal->x;
             }
 
             wp.id = id++;