diff --git a/src/modelec_strat/data/config.xml b/src/modelec_strat/data/config.xml
index 516db20..c8cf8c9 100644
--- a/src/modelec_strat/data/config.xml
+++ b/src/modelec_strat/data/config.xml
@@ -36,15 +36,15 @@
     <home>
         <!--<blue x="2650" y="1600" theta="-1.5708"/>
         <yellow x="350" y="1600" theta="-1.5708"/>-->
-        <blue x="2650" y="1700" theta="1.5708"/>
-        <yellow x="350" y="1700" theta="1.5708"/>
+        <blue x="2650" y="1700" theta="-1.5708"/>
+        <yellow x="350" y="1700" theta="-1.5708"/>
     </home>
     <spawn>
         <yellow>
-            <top x="350" y="1700" theta="1.5708" />
+            <top x="350" y="1700" theta="-1.5708" />
         </yellow>
         <blue>
-            <top x="2650" y="1700" theta="1.5708" />
+            <top x="2650" y="1700" theta="-1.5708" />
         </blue>
         <width_mm>450</width_mm>
         <height_mm>450</height_mm>
diff --git a/src/modelec_strat/src/missions/go_home_mission.cpp b/src/modelec_strat/src/missions/go_home_mission.cpp
index 899d106..754de11 100644
--- a/src/modelec_strat/src/missions/go_home_mission.cpp
+++ b/src/modelec_strat/src/missions/go_home_mission.cpp
@@ -70,7 +70,7 @@ namespace Modelec
 
             go_timeout_ = node_->now();
 
-            nav_->GoTo(home_point_.GetTakePosition(0), true);
+            nav_->GoTo(home_point_, true);
 
             step_ = GO_CLOSE;
             break;