diff --git a/MobileApp/app/src/main/java/com/example/lfrmobileapp/Communication.java b/MobileApp/app/src/main/java/com/example/lfrmobileapp/Communication.java
index 190edd1..eaf1b51 100644
--- a/MobileApp/app/src/main/java/com/example/lfrmobileapp/Communication.java
+++ b/MobileApp/app/src/main/java/com/example/lfrmobileapp/Communication.java
@@ -29,12 +29,12 @@ public class Communication {
     }
 
     public String telegram(boolean startStop, ArrayList<String> list){
-        String tel = "";
+        String tel = "aa";
         tel += "1"; //Autonomous mode
         if(startStop){
             tel += ";1";
         }else{
-            tel += ";0";
+            return "aa0;0.0;0.0;0.0;0.0zz";
         }
 
         for (String i : list) {
@@ -44,6 +44,7 @@ public class Communication {
                 tel += ";1";
             }
         }
+        tel += "zz";
         return tel;
     }
 
diff --git a/MobileApp/app/src/main/java/com/example/lfrmobileapp/ui/home/HomeFragment.java b/MobileApp/app/src/main/java/com/example/lfrmobileapp/ui/home/HomeFragment.java
index e81f938..c3e53c7 100644
--- a/MobileApp/app/src/main/java/com/example/lfrmobileapp/ui/home/HomeFragment.java
+++ b/MobileApp/app/src/main/java/com/example/lfrmobileapp/ui/home/HomeFragment.java
@@ -75,18 +75,13 @@ public class HomeFragment extends Fragment {
             @SuppressLint("ClickableViewAccessibility")
             @Override
                 public boolean onTouch(View v, MotionEvent event) {
-                boolean send = false;
-                if (System.currentTimeMillis() - lastOnMoveCall > 250){
-                    send = true;
-                    lastOnMoveCall = System.currentTimeMillis();
-                }
-                if (send && mainActivity.connected) {
+                if (mainActivity.connected) {
                     if (event.getAction() == MotionEvent.ACTION_UP) {
                         binding.rotateLeft.performClick();
                         mainActivity.sendTelegram(com.telegram(new int[]{0, 0, 0, 0}, 0));
                         return true;
                     } else {
-                        mainActivity.sendTelegram(com.telegram(new int[]{-1, 1, -1, 1}, 100));
+                        mainActivity.sendTelegram(com.telegram(new int[]{-1, 1, -1, 1}, 50));
                     }
                 }
                 return false;
@@ -97,18 +92,13 @@ public class HomeFragment extends Fragment {
             @SuppressLint("ClickableViewAccessibility")
             @Override
             public boolean onTouch(View v, MotionEvent event) {
-                boolean send = false;
-                if (System.currentTimeMillis() - lastOnMoveCall > 250){
-                    send = true;
-                    lastOnMoveCall = System.currentTimeMillis();
-                }
-                if (send && mainActivity.connected){
+                if (mainActivity.connected){
                     if(event.getAction() == MotionEvent.ACTION_UP){
                         binding.rotateRight.performClick();
                         mainActivity.sendTelegram(com.telegram(new int[]{0, 0, 0, 0}, 0));
                         return true;
                     }else{
-                        mainActivity.sendTelegram(com.telegram(new int[]{1, -1, 1, -1}, 100));
+                        mainActivity.sendTelegram(com.telegram(new int[]{1, -1, 1, -1}, 50));
                     }
                 }
                 return false;
@@ -157,6 +147,7 @@ public class HomeFragment extends Fragment {
                 else{
                     joystick.setBackgroundResource(R.mipmap.blank);
                     telegram = com.telegram(new int[]{0, 0, 0, 0}, strength);
+                    send=true;
                 }
                 if (send && mainActivity.connected)
                 {