diff --git a/index.html b/index.html
index 66e31b9..f83b338 100644
--- a/index.html
+++ b/index.html
@@ -90,8 +90,9 @@
         }
 
         function send(x,y,angle){
-            x = Math.round((x + 200) * 81.92);
-            y = Math.round((y + 200) * 81.92);
+            factor = (2**16-1)/400
+            x = Math.round((x + 200) * factor);
+            y = Math.round((y + 200) * factor);
             var data = clientId + ";d;" + x.toString() + "," + y.toString();
             connection.send(data);
         }
diff --git a/rx_esp32/src/commands.c b/rx_esp32/src/commands.c
index 6ef7445..2461c8d 100644
--- a/rx_esp32/src/commands.c
+++ b/rx_esp32/src/commands.c
@@ -59,8 +59,8 @@ int cmd_contrl(char* line, void* cli)
 		{
 			readInt(arg, &ch_d[1]);
 
-			servo_set(0, (int16_t)ch_d[0]);
-			servo_set(1, (int16_t)ch_d[1]);
+			servo_set(0, (uint16_t)ch_d[0]);
+			servo_set(1, (uint16_t)ch_d[1]);
 			snprintf(&msg[0], 40, "channel data: 0:%lu, 1:%lu\n", ch_d[0], ch_d[1]);
 			CLI_stringOut((CLI_t*)cli, &msg[0]);
 		}
diff --git a/rx_esp32/src/config.h b/rx_esp32/src/config.h
index 45127a7..38a4099 100644
--- a/rx_esp32/src/config.h
+++ b/rx_esp32/src/config.h
@@ -12,8 +12,8 @@ static uint8_t BoatId = 1;
 
 #define HISTORY // enable cli history
 
-#define SERVOS_CH0 {LEDC_CHANNEL_0, 5},
-#define SERVOS_CH1 {LEDC_CHANNEL_1, 6}
+#define SERVOS_CH0 {LEDC_CHANNEL_0, 7},
+#define SERVOS_CH1 {LEDC_CHANNEL_1, 21}
 #define SERVOS_CH2
 #define SERVOS_CH3
 #define SERVOS_CH4
diff --git a/rx_esp32/src/servos.c b/rx_esp32/src/servos.c
index 8a23fbb..13f77b4 100644
--- a/rx_esp32/src/servos.c
+++ b/rx_esp32/src/servos.c
@@ -70,7 +70,7 @@ void servo_deinit(void)
 	}
 }
 
-void servo_set(uint8_t ch, int16_t pos)
+void servo_set(uint8_t ch, uint16_t pos)
 {
 	uint32_t duty = (uint32_t) ((double)pos * (double)SERVO_DUTY_DIFF/(double)INT16_MAX);
 	duty += (SERVO_DUTY_MIN + SERVO_DUTY_DIFF/2);
diff --git a/rx_esp32/src/servos.h b/rx_esp32/src/servos.h
index 7cd458a..1069386 100644
--- a/rx_esp32/src/servos.h
+++ b/rx_esp32/src/servos.h
@@ -5,6 +5,6 @@
 
 void servo_init(void);
 void servo_deinit(void);
-void servo_set(uint8_t ch, int16_t pos);
+void servo_set(uint8_t ch, uint16_t pos);
 
 #endif // SERVOS_H
\ No newline at end of file
diff --git a/rx_esp32/src/ws.c b/rx_esp32/src/ws.c
index 5790d13..2f20905 100644
--- a/rx_esp32/src/ws.c
+++ b/rx_esp32/src/ws.c
@@ -121,18 +121,6 @@ ws_client_t ws_connect(char *url)
 
 	const esp_websocket_client_config_t ws_conf = {
 		.uri = url
-		// .disable_pingpong_discon = false,
-		// .ping_interval_sec = 2,
-		// .pingpong_timeout_sec = 1
-
-   //  bool                        disable_auto_reconnect;     /*!< Disable the automatic reconnect function when disconnected */
-   //  int                         buffer_size;                /*!< Websocket buffer size */
-   //  bool                        keep_alive_enable;          /*!< Enable keep-alive timeout */
-   //  int                         keep_alive_idle;            /*!< Keep-alive idle time. Default is 5 (second) */
-   //  int                         keep_alive_interval;        /*!< Keep-alive interval time. Default is 5 (second) */
-   //  int                         keep_alive_count;           /*!< Keep-alive packet retry send count. Default is 3 counts */
-   //  int                         reconnect_timeout_ms;       /*!< Reconnect after this value in miliseconds if disable_auto_reconnect is not enabled (defaults to 10s) */
-   //  int                         network_timeout_ms;         /*!< Abort network operation if it is not completed after this value, in milliseconds (defaults to 10s) */
 	};
 	client->handle = esp_websocket_client_init(&ws_conf);
 	esp_websocket_register_events(client->handle, WEBSOCKET_EVENT_ANY, ws_event_handler, (void *)client);