diff --git a/lesson_10/step_3.py b/lesson_10/step_3.py
index 14a365b4051773370cc7298ae3144466765660b6..85261302c474a44bd53156678a4eb4ad14ca00e3 100644
--- a/lesson_10/step_3.py
+++ b/lesson_10/step_3.py
@@ -82,7 +82,8 @@ class Step(Node):
         )
         self.declare_parameter(
             "allowed_classes",
-            ["red_bou", "yellow_bou"],  # defaults
+            ["green_square"],
+            #["red_bou", "yellow_bou"],  # defaults
             classes_descriptor
         )
 
@@ -317,7 +318,7 @@ class Step(Node):
 
         if len(data) < len(self.get_parameter("allowed_classes").value):
             return None
-
+        """
         # Сумма азимутов всех обнаруженных объектов
         azimuth_sum = sum([azimuth for _, azimuth, _ in data])
 
@@ -325,6 +326,13 @@ class Step(Node):
         course = azimuth_sum / len(data)
 
         return course
+        """
+        
+        if not data:
+            return None
+
+        return data[0][1]
+        
 
     def annotate_result_azimuth(self, annotated_frame: np.ndarray, azimuth: float) -> np.ndarray:
         """
diff --git a/lesson_10/step_4.py b/lesson_10/step_4.py
index 8977aa68077130a967511e116d58ebbc8ddb97b6..cb88c5fde78256fb9609893333dbdc7c9ac91c14 100644
--- a/lesson_10/step_4.py
+++ b/lesson_10/step_4.py
@@ -17,18 +17,18 @@ class Step(Node):
         super().__init__("step_4")
 
         # Скорость поворота
-        range = FloatingPointRange(from_value=0.0, to_value=2.0, step=0.01)
+        range = FloatingPointRange(from_value=0.0, to_value=10.0, step=0.01)
         descriptor = ParameterDescriptor(floating_point_range=[range])
-        self.declare_parameter("max_angular_speed", 0.15, descriptor)
+        self.declare_parameter("max_angular_speed", 0.2, descriptor)
 
         # Зона нечувствительности по угловой ошибке
         range = FloatingPointRange(from_value=0.0, to_value=180.0, step=0.01)
         descriptor = ParameterDescriptor(floating_point_range=[range])
-        self.declare_parameter("dead_zone_angle", 5.0, descriptor)
+        self.declare_parameter("dead_zone_angle", 0.0, descriptor)
 
         range = FloatingPointRange(from_value=0.0, to_value=2.0, step=0.01)
         descriptor = ParameterDescriptor(floating_point_range=[range])
-        self.declare_parameter("linear_speed", 0.5, descriptor)
+        self.declare_parameter("linear_speed", 0.8, descriptor)
 
         self.declare_parameter("is_enabled", True)
 
diff --git a/lesson_10/step_5_state_machine.py b/lesson_10/step_5_state_machine.py
index c7b35f251255a26e259c91627a879d1dcb7ed532..27d86cbd3a838cd159f5934353e7602821941870 100644
--- a/lesson_10/step_5_state_machine.py
+++ b/lesson_10/step_5_state_machine.py
@@ -49,9 +49,9 @@ def main():
 
             add_state(SetMotionControllerIsEnabled(c, is_enabled=False), "stop_autopilot_motion", "move_forward")
             
-            add_state(PublishTwist(c, twist_list=(1.0, -0.05), duration_s=10), "move_forward", {"done": "search_gate"})
+            add_state(PublishTwist(c, twist_list=(1.0, 0.0), duration_s=1), "move_forward", {"done": "search_gate"})
 
-            add_state(SearchGate(c, angular_speed=-0.15), "search_gate", {"detect": "start_autopilot_motion"})
+            add_state(SearchGate(c, angular_speed=0.15), "search_gate", {"detect": "start_autopilot_motion"})
 
             add_state(SetMotionControllerIsEnabled(c, is_enabled=True), "start_autopilot_motion", "start")