diff --git a/src/modelec_com/src/pcb_odo_interface.cpp b/src/modelec_com/src/pcb_odo_interface.cpp
index 472d736..4b6469a 100644
--- a/src/modelec_com/src/pcb_odo_interface.cpp
+++ b/src/modelec_com/src/pcb_odo_interface.cpp
@@ -62,6 +62,8 @@ namespace Modelec
                     isOk = true;
 
                     SetStart(true);
+
+                    SetPID("THETA", 8, 0, 0.1);
                 }
                 else
                 {
@@ -140,8 +142,6 @@ namespace Modelec
                     SendOrder("START", {std::to_string(msg->data)});
                 }
             });
-
-        SetPID("THETA", 8, 0, 0.1);
     }
 
     PCBOdoInterface::~PCBOdoInterface()