diff --git a/march_gazebo_plugins/src/com_controller.cpp b/march_gazebo_plugins/src/com_controller.cpp
index e965cf5..00c3e38 100644
--- a/march_gazebo_plugins/src/com_controller.cpp
+++ b/march_gazebo_plugins/src/com_controller.cpp
@@ -32,7 +32,7 @@ class ComController : public ModelPlugin
     this->p_pitch = 60;
     this->d_pitch = 10;
     this->p_roll = 150;
-    this->d_roll = 7.5;
+    this->d_roll = 0;
     this->p_yaw = 500;
     this->d_yaw = 25;
 
@@ -107,6 +107,11 @@ class ComController : public ModelPlugin
       goal_position_x += 0.25 * swing_step_size - 0.25 * time_since_start * swing_step_size / subgait_duration;
     }
 
+    if (time_since_start > subgait_duration)
+    {
+      this->subgait_name = "home_stand";
+    }
+
     double error_x = model_com.X() - goal_position_x;
     double error_y = model_com.Y() - goal_position_y;
     double error_yaw = this->foot_left->WorldPose().Rot().Z();