diff --git a/src/main/java/ru/octol1ttle/flightassistant/alerts/impl/nav/MinimumsAlert.java b/src/main/java/ru/octol1ttle/flightassistant/alerts/impl/nav/MinimumsAlert.java
index c9bab978..d0590519 100644
--- a/src/main/java/ru/octol1ttle/flightassistant/alerts/impl/nav/MinimumsAlert.java
+++ b/src/main/java/ru/octol1ttle/flightassistant/alerts/impl/nav/MinimumsAlert.java
@@ -5,9 +5,9 @@
 import net.minecraft.text.Text;
 import org.jetbrains.annotations.NotNull;
 import ru.octol1ttle.flightassistant.DrawHelper;
-import ru.octol1ttle.flightassistant.alerts.impl.AlertSoundData;
 import ru.octol1ttle.flightassistant.alerts.api.BaseAlert;
 import ru.octol1ttle.flightassistant.alerts.api.IECAMAlert;
+import ru.octol1ttle.flightassistant.alerts.impl.AlertSoundData;
 import ru.octol1ttle.flightassistant.computers.impl.navigation.FlightPlanner;
 import ru.octol1ttle.flightassistant.config.FAConfig;
 import ru.octol1ttle.flightassistant.registries.ComputerRegistry;
@@ -38,7 +38,7 @@ public int render(TextRenderer textRenderer, DrawContext context, int x, int y,
             return 0;
         }
 
-        return DrawHelper.drawHighlightedText(textRenderer, context, Text.translatable("alerts.flightassistant.reached_minimums"), x, y,
+        return DrawHelper.drawHighlightedText(textRenderer, context, Text.translatable("alerts.flightassistant.gpws.reached_minimums"), x, y,
                 FAConfig.indicator().cautionColor, false);
     }
 }
diff --git a/src/main/java/ru/octol1ttle/flightassistant/alerts/impl/nav/gpws/UnsafeTerrainClearanceAlert.java b/src/main/java/ru/octol1ttle/flightassistant/alerts/impl/nav/gpws/UnsafeTerrainClearanceAlert.java
index 1b9472a0..e134be97 100644
--- a/src/main/java/ru/octol1ttle/flightassistant/alerts/impl/nav/gpws/UnsafeTerrainClearanceAlert.java
+++ b/src/main/java/ru/octol1ttle/flightassistant/alerts/impl/nav/gpws/UnsafeTerrainClearanceAlert.java
@@ -10,6 +10,7 @@
 import ru.octol1ttle.flightassistant.alerts.impl.AlertSoundData;
 import ru.octol1ttle.flightassistant.computers.impl.navigation.FlightPlanner;
 import ru.octol1ttle.flightassistant.computers.impl.safety.GroundProximityComputer;
+import ru.octol1ttle.flightassistant.computers.impl.safety.GroundProximityComputer.TerrainClearanceStatus;
 import ru.octol1ttle.flightassistant.config.FAConfig;
 import ru.octol1ttle.flightassistant.registries.ComputerRegistry;
 
@@ -19,7 +20,7 @@ public class UnsafeTerrainClearanceAlert extends BaseAlert implements ICenteredA
 
     @Override
     public boolean isTriggered() {
-        return gpws.landingClearanceStatus == GroundProximityComputer.LandingClearanceStatus.TOO_LOW;
+        return gpws.terrainClearanceStatus == TerrainClearanceStatus.TOO_LOW;
     }
 
     @Override
diff --git a/src/main/java/ru/octol1ttle/flightassistant/computers/impl/AirDataComputer.java b/src/main/java/ru/octol1ttle/flightassistant/computers/impl/AirDataComputer.java
index e15947c2..20ce98e5 100644
--- a/src/main/java/ru/octol1ttle/flightassistant/computers/impl/AirDataComputer.java
+++ b/src/main/java/ru/octol1ttle/flightassistant/computers/impl/AirDataComputer.java
@@ -114,7 +114,7 @@ private float computeGroundLevel() {
         if (!isCurrentChunkLoaded) {
             return groundLevel; // last known cache
         }
-        Vec3d ground = findGround(player().getBlockPos().mutableCopy());
+        Vec3d ground = findGround(position());
         return ground == null ? voidLevel() : (float) ground.getY();
     }
 
@@ -123,14 +123,14 @@ public boolean isGround(BlockPos pos) {
         return !block.isAir();
     }
 
-    public Vec3d findGround(BlockPos.Mutable from) {
+    public Vec3d findGround(Vec3d from) {
         if (!isChunkLoadedAt(from)) {
             return null;
         }
 
         BlockHitResult result = world().raycast(new RaycastContext(
-                position().offset(Direction.UP, 0.5),
-                position().withAxis(Direction.Axis.Y, voidLevel()),
+                from.offset(Direction.UP, 0.5),
+                from.withAxis(Direction.Axis.Y, voidLevel()),
                 RaycastContext.ShapeType.COLLIDER,
                 RaycastContext.FluidHandling.ANY,
                 player()
@@ -197,13 +197,12 @@ public World world() {
         return player().getWorld();
     }
 
-    public boolean isChunkLoadedAt(BlockPos pos){
+    public boolean isChunkLoadedAt(Vec3d pos) {
         return world().getChunkManager().isChunkLoaded(ChunkSectionPos.getSectionCoord(pos.getX()), ChunkSectionPos.getSectionCoord(pos.getZ()));
     }
 
-    private boolean isCurrentChunkLoaded(){
-        BlockPos pos = player().getBlockPos();
-        return isChunkLoadedAt(pos);
+    private boolean isCurrentChunkLoaded() {
+        return isChunkLoadedAt(position());
     }
 
     public static float validate(float f, float bounds) {
diff --git a/src/main/java/ru/octol1ttle/flightassistant/computers/impl/FlightPhaseComputer.java b/src/main/java/ru/octol1ttle/flightassistant/computers/impl/FlightPhaseComputer.java
index 302dd826..4f8cc0a9 100644
--- a/src/main/java/ru/octol1ttle/flightassistant/computers/impl/FlightPhaseComputer.java
+++ b/src/main/java/ru/octol1ttle/flightassistant/computers/impl/FlightPhaseComputer.java
@@ -3,6 +3,7 @@
 import net.minecraft.text.Text;
 import ru.octol1ttle.flightassistant.computers.api.ITickableComputer;
 import ru.octol1ttle.flightassistant.computers.impl.autoflight.AutoFlightController;
+import ru.octol1ttle.flightassistant.computers.impl.autoflight.ThrustController;
 import ru.octol1ttle.flightassistant.computers.impl.navigation.FlightPlanner;
 import ru.octol1ttle.flightassistant.registries.ComputerRegistry;
 
@@ -10,73 +11,64 @@ public class FlightPhaseComputer implements ITickableComputer {
     private final AirDataComputer data = ComputerRegistry.resolve(AirDataComputer.class);
     private final AutoFlightController autoflight = ComputerRegistry.resolve(AutoFlightController.class);
     private final FlightPlanner plan = ComputerRegistry.resolve(FlightPlanner.class);
+    private final ThrustController thrust = ComputerRegistry.resolve(ThrustController.class);
     private Phase phase = Phase.UNKNOWN;
 
-    @SuppressWarnings("DataFlowIssue")
+
     @Override
     public void tick() {
-        if (data.player().isOnGround()) {
-            phase = Phase.ON_GROUND;
-        }
+        phase = computePhase();
+    }
 
-        if (!data.isFlying()) {
-            return;
+    private Phase computePhase() {
+        if (data.player().isOnGround() || !data.isFlying()) {
+            return Phase.ON_GROUND;
         }
 
         if (phase == Phase.ON_GROUND) {
-            phase = Phase.TAKEOFF;
+            return Phase.TAKEOFF;
         }
 
         if (phase == Phase.TAKEOFF && data.heightAboveGround() <= 15.0f) {
-            return;
+            return Phase.TAKEOFF;
         }
 
         Integer cruiseAltitude = plan.getCruiseAltitude();
         Integer targetAltitude = autoflight.getTargetAltitude();
         if (cruiseAltitude == null || targetAltitude == null) {
-            phase = Phase.UNKNOWN;
-            return;
+            return Phase.UNKNOWN;
         }
 
-        if (!isNearDestination()) {
-            if (data.altitude() - targetAltitude <= 5.0f) {
-                phase = Phase.CLIMB;
-            } else {
-                phase = Phase.DESCENT;
-            }
-
+        if (!plan.isOnApproach() && phase != Phase.GO_AROUND) {
             if (targetAltitude.equals(cruiseAltitude) && Math.abs(cruiseAltitude - data.altitude()) <= 5.0f) {
-                phase = Phase.CRUISE;
+                return Phase.CRUISE;
+            }
+            if (data.altitude() - targetAltitude <= 5.0f) {
+                return Phase.CLIMB;
             }
+            return Phase.DESCENT;
         }
 
         if (phase == Phase.GO_AROUND) {
-            if (plan.getDistanceToWaypoint() > 150.0f) {
-                phase = Phase.APPROACH;
+            Double distance = plan.getDistanceToWaypoint();
+            if (distance != null && distance > 150.0f && thrust.getTargetThrust() < 0.99f) {
+                return Phase.APPROACH;
             }
         } else {
-            if (plan.isOnApproach()) {
-                phase = Phase.APPROACH;
+            if (thrust.getTargetThrust() >= 0.99f) {
+                return Phase.GO_AROUND;
             }
 
-            if (phase == Phase.APPROACH && plan.autolandAllowed) {
-                phase = Phase.LAND;
-            }
+            return plan.autolandAllowed ? Phase.LAND : Phase.APPROACH;
         }
+
+        return phase;
     }
 
     public Phase get() {
         return this.phase;
     }
 
-    private boolean isAboutToLand() {
-        return phase == Phase.APPROACH || phase == Phase.LAND;
-    }
-
-    public boolean isNearDestination() {
-        return isAboutToLand() || phase == Phase.GO_AROUND;
-    }
-
     @Override
     public String getId() {
         return "flight_phase";
diff --git a/src/main/java/ru/octol1ttle/flightassistant/computers/impl/autoflight/AutopilotComputer.java b/src/main/java/ru/octol1ttle/flightassistant/computers/impl/autoflight/AutopilotComputer.java
index 953687d7..726f0659 100644
--- a/src/main/java/ru/octol1ttle/flightassistant/computers/impl/autoflight/AutopilotComputer.java
+++ b/src/main/java/ru/octol1ttle/flightassistant/computers/impl/autoflight/AutopilotComputer.java
@@ -17,6 +17,7 @@
 import ru.octol1ttle.flightassistant.computers.impl.AirDataComputer;
 import ru.octol1ttle.flightassistant.computers.impl.FlightPhaseComputer;
 import ru.octol1ttle.flightassistant.computers.impl.FlightPhaseComputer.Phase;
+import ru.octol1ttle.flightassistant.computers.impl.TimeComputer;
 import ru.octol1ttle.flightassistant.computers.impl.navigation.FlightPlanner;
 import ru.octol1ttle.flightassistant.registries.ComputerRegistry;
 
@@ -29,6 +30,7 @@ public class AutopilotComputer implements ITickableComputer, IAutopilotProvider,
     private final FlightPhaseComputer phase = ComputerRegistry.resolve(FlightPhaseComputer.class);
     private final FlightPlanner plan = ComputerRegistry.resolve(FlightPlanner.class);
     private final ThrustController thrust = ComputerRegistry.resolve(ThrustController.class);
+    private final TimeComputer time = ComputerRegistry.resolve(TimeComputer.class);
 
     public Text verticalMode;
     public Text lateralMode;
@@ -47,17 +49,23 @@ public void tick() {
         setTargetHeading(null, Text.empty());
 
         if (phase.get() == Phase.ON_GROUND) {
+            togaHeading = null;
             return;
         }
 
         if (phase.get() == Phase.TAKEOFF
-                || phase.get() == Phase.GO_AROUND && data.heightAboveGround() < 15.0f) {
+                || phase.get() == Phase.GO_AROUND) {
             if (togaHeading == null) {
                 togaHeading = data.heading();
             }
 
+            boolean useReducedThrust = thrust.getThrustHandler().isFireworkLike();
             setTargetThrust(1.0f, Text.translatable("mode.flightassistant.thrust.toga"));
-            setTargetPitch(55.0f, Text.translatable("mode.flightassistant.vert.climb.optimum"));
+            if (data.heightAboveGround() < 15.0f) {
+                setTargetPitch(useReducedThrust ? 55.0f : 35.0f, Text.translatable("mode.flightassistant.vert.climb.optimum"));
+            } else {
+                setTargetPitch(useReducedThrust ? 10.0f : 5.0f, Text.translatable("mode.flightassistant.vert.go_around"));
+            }
 
             String lat = phase.get() == Phase.GO_AROUND ? ".go_around" : ".takeoff";
             setTargetHeading(togaHeading, Text.translatable("mode.flightassistant.lat" + lat, togaHeading.intValue()));
@@ -96,27 +104,50 @@ private void tickSelectedAltitude(float diff, float speedAdjustment) {
         float abs = Math.abs(diff);
 
         float pitch;
-        // TODO: cant level off on the first try
         if (diff > 0) {
             if (useReducedThrust) {
                 setTargetThrust(THRUST_CLIMB_REDUCED, Text.translatable("mode.flightassistant.thrust.climb_reduced"));
-                pitch = 45.0f - 45.0f * (Math.max(40.0f - Math.max(abs - 5, 0), 0.0f) / 40.0f) + 10.0f;
+                pitch = 55.0f;
+                if (abs <= 200) {
+                    pitch -= 30.0f * MathHelper.clamp((200.0f - abs) / 100.0f, 0.0f, 1.0f);
+                }
+                if (abs <= 100) {
+                    pitch -= 15.0f * MathHelper.clamp((100.0f - abs) / 95.0f, 0.0f, 1.0f);
+                }
             } else {
                 setTargetThrust(THRUST_CLIMB, Text.translatable("mode.flightassistant.thrust.climb"));
-                pitch = 45.0f - 45.0f * (Math.max(50.0f - abs, 0.0f) / 50.0f) + 5.0f + speedAdjustment;
+                pitch = 35.0f + speedAdjustment;
+                if (abs <= 200) {
+                    pitch -= 25.0f * MathHelper.clamp((200.0f - abs) / 100.0f, 0.0f, 1.0f);
+                }
+                if (abs <= 100) {
+                    pitch -= (5.0f + speedAdjustment) * MathHelper.clamp((100.0f - abs) / 100.0f, 0.0f, 1.0f);
+                }
             }
             setTargetPitch(pitch, Text.translatable("mode.flightassistant.vert.climb.selected", autoflight.selectedAltitude));
         } else {
             setTargetThrust(0.0f, Text.translatable("mode.flightassistant.thrust.idle"));
             if (useReducedThrust) {
-                pitch = -25.0f + 25.0f * (Math.max(40.0f - Math.max(abs - 10, 0), 0.0f) / 40.0f);
+                pitch = -35.0f;
+                if (abs <= 100) {
+                    pitch += 15.0f * MathHelper.clamp((100.0f - abs) / 50.0f, 0.0f, 1.0f);
+                }
+                if (abs <= 50) {
+                    pitch += 10.0f * MathHelper.clamp((50.0f - abs) / 40.0f, 0.0f, 1.0f);
+                }
             } else {
-                pitch = -35.0f + 35.0f * (Math.max(50.0f - abs, 0.0f) / 50.0f) + 5.0f + speedAdjustment;
+                pitch = -35.0f + speedAdjustment;
+                if (abs <= 100) {
+                    pitch += 20.0f * MathHelper.clamp((100.0f - abs) / 50.0f, 0.0f, 1.0f);
+                }
+                if (abs <= 50) {
+                    pitch += (20.0f + speedAdjustment) * MathHelper.clamp((50.0f - abs) / 50.0f, 0.0f, 1.0f);
+                }
             }
             setTargetPitch(pitch, Text.translatable("mode.flightassistant.vert.descend.selected", autoflight.selectedAltitude));
         }
 
-        if (abs <= 5) {
+        if (abs <= 10.0f) {
             setTargetThrust(THRUST_CLIMB, Text.translatable("mode.flightassistant.thrust.climb"));
             setTargetPitch(pitch, Text.translatable("mode.flightassistant.vert.hold.selected", autoflight.selectedAltitude));
         }
@@ -127,26 +158,33 @@ private void tickManagedAltitude(Integer targetAltitude, float speedAdjustment,
         float diff = targetAltitude - data.altitude();
         double distance = Vector2d.distance(data.position().x, data.position().z, pos.x, pos.y);
         float degrees = FAMathHelper.toDegrees(MathHelper.atan2(diff, distance));
+
+        float pitch;
         if (diff > 0) {
-            float pitch;
             if (useReducedThrust) {
                 setTargetThrust(THRUST_CLIMB_REDUCED, Text.translatable("mode.flightassistant.thrust.climb_reduced"));
-                pitch = MathHelper.clamp(degrees, 7.5f, PitchController.CLIMB_PITCH);
+                pitch = MathHelper.clamp(degrees, 10.0f, PitchController.CLIMB_PITCH);
             } else {
                 setTargetThrust(THRUST_CLIMB, Text.translatable("mode.flightassistant.thrust.climb"));
-                pitch = Math.min(degrees, PitchController.CLIMB_PITCH) + speedAdjustment;
+                pitch = MathHelper.clamp(degrees + speedAdjustment, 5.0f, 35.0f);
             }
             setTargetPitch(pitch, Text.translatable("mode.flightassistant.vert.climb.managed", targetAltitude));
         } else {
             setTargetThrust(0.0f, Text.translatable("mode.flightassistant.thrust.idle"));
-            float pitch;
             if (useReducedThrust) {
                 pitch = MathHelper.clamp(degrees, PitchController.DESCEND_PITCH, PitchController.GLIDE_PITCH);
             } else {
-                pitch = MathHelper.clamp(degrees, PitchController.DESCEND_PITCH, 0.0f);
+                pitch = MathHelper.clamp(degrees + 5.0f + speedAdjustment, PitchController.DESCEND_PITCH, 5.0f);
             }
             setTargetPitch(pitch, Text.translatable("mode.flightassistant.vert.descend.managed", targetAltitude));
         }
+
+        if (Math.abs(diff) <= 10.0f) {
+            setTargetThrust(THRUST_CLIMB, Text.translatable("mode.flightassistant.thrust.climb"));
+            setTargetPitch(pitch, targetAltitude.equals(plan.getCruiseAltitude())
+                    ? Text.translatable("mode.flightassistant.vert.hold.cruise", targetAltitude)
+                    : Text.translatable("mode.flightassistant.vert.hold.selected", targetAltitude));
+        }
     }
 
     private void tickSpeed(Integer targetSpeed) {
@@ -156,11 +194,11 @@ private void tickSpeed(Integer targetSpeed) {
 
         float diff = targetSpeed - data.speed();
 
-        float thr = THRUST_CLIMB;
+        float thr = MathHelper.clamp(thrust.getTargetThrust() + diff * 0.01f * time.deltaTime, -0.1f, THRUST_CLIMB);
         if (thrust.getThrustHandler().isFireworkLike()) {
             thr = targetSpeed / FireworkController.FIREWORK_SPEED;
         }
-        setTargetThrust(thr * Math.min(diff * 0.1f, 1.0f), Text.translatable("mode.flightassistant.thrust.speed.selected", targetSpeed));
+        setTargetThrust(thr, Text.translatable("mode.flightassistant.thrust.speed.selected", targetSpeed));
     }
 
     private void tickLateral() {
diff --git a/src/main/java/ru/octol1ttle/flightassistant/computers/impl/navigation/FlightPlanner.java b/src/main/java/ru/octol1ttle/flightassistant/computers/impl/navigation/FlightPlanner.java
index c3ce18aa..5f153904 100644
--- a/src/main/java/ru/octol1ttle/flightassistant/computers/impl/navigation/FlightPlanner.java
+++ b/src/main/java/ru/octol1ttle/flightassistant/computers/impl/navigation/FlightPlanner.java
@@ -4,15 +4,14 @@
 import net.minecraft.text.Text;
 import net.minecraft.util.hit.BlockHitResult;
 import net.minecraft.util.hit.HitResult;
-import net.minecraft.util.math.BlockPos;
 import net.minecraft.util.math.MathHelper;
 import net.minecraft.util.math.Vec3d;
 import net.minecraft.world.RaycastContext;
 import org.jetbrains.annotations.Nullable;
 import org.joml.Vector2d;
 import ru.octol1ttle.flightassistant.FAMathHelper;
-import ru.octol1ttle.flightassistant.computers.impl.AirDataComputer;
 import ru.octol1ttle.flightassistant.computers.api.ITickableComputer;
+import ru.octol1ttle.flightassistant.computers.impl.AirDataComputer;
 import ru.octol1ttle.flightassistant.computers.impl.autoflight.PitchController;
 import ru.octol1ttle.flightassistant.registries.ComputerRegistry;
 
@@ -56,7 +55,7 @@ private boolean tickLanding(Vector2d target) {
             return false;
         }
 
-        Vec3d landPos = data.findGround(new BlockPos.Mutable(target.x, data.world().getTopY(), target.y));
+        Vec3d landPos = data.findGround(new Vec3d(target.x, data.world().getTopY(), target.y));
         if (landPos == null) {
             return false;
         }
diff --git a/src/main/java/ru/octol1ttle/flightassistant/computers/impl/safety/GroundProximityComputer.java b/src/main/java/ru/octol1ttle/flightassistant/computers/impl/safety/GroundProximityComputer.java
index 5ca6e10e..36068ac1 100644
--- a/src/main/java/ru/octol1ttle/flightassistant/computers/impl/safety/GroundProximityComputer.java
+++ b/src/main/java/ru/octol1ttle/flightassistant/computers/impl/safety/GroundProximityComputer.java
@@ -14,6 +14,8 @@
 import ru.octol1ttle.flightassistant.computers.api.ITickableComputer;
 import ru.octol1ttle.flightassistant.computers.api.InputPriority;
 import ru.octol1ttle.flightassistant.computers.impl.AirDataComputer;
+import ru.octol1ttle.flightassistant.computers.impl.FlightPhaseComputer;
+import ru.octol1ttle.flightassistant.computers.impl.FlightPhaseComputer.Phase;
 import ru.octol1ttle.flightassistant.computers.impl.autoflight.FireworkController;
 import ru.octol1ttle.flightassistant.computers.impl.navigation.FlightPlanner;
 import ru.octol1ttle.flightassistant.config.FAConfig;
@@ -31,19 +33,22 @@ public class GroundProximityComputer implements ITickableComputer, IPitchLimiter
     private static final float CAUTION_THRESHOLD = 10.0f;
     private static final float PULL_UP_THRESHOLD = 5.0f;
     private static final float PITCH_CORRECT_THRESHOLD = 2.5f;
+
     private final AirDataComputer data = ComputerRegistry.resolve(AirDataComputer.class);
     private final StallComputer stall = ComputerRegistry.resolve(StallComputer.class);
     private final FlightPlanner plan = ComputerRegistry.resolve(FlightPlanner.class);
+    private final FlightPhaseComputer phase = ComputerRegistry.resolve(FlightPhaseComputer.class);
+
     public float descentImpactTime = STATUS_UNKNOWN;
     public float terrainImpactTime = STATUS_UNKNOWN;
-    public LandingClearanceStatus landingClearanceStatus = LandingClearanceStatus.UNKNOWN;
+    public TerrainClearanceStatus terrainClearanceStatus = TerrainClearanceStatus.UNKNOWN;
     public boolean fireworkUseSafe = true;
 
     @Override
     public void tick() {
         descentImpactTime = this.computeDescentImpactTime();
         terrainImpactTime = this.computeTerrainImpactTime();
-        landingClearanceStatus = this.computeLandingClearanceStatus();
+        terrainClearanceStatus = this.computeLandingClearanceStatus();
         fireworkUseSafe = this.computeFireworkUseSafe();
     }
 
@@ -124,25 +129,30 @@ private boolean computeFireworkUseSafe() {
         return distance / FireworkController.FIREWORK_SPEED > PULL_UP_THRESHOLD;
     }
 
-    private LandingClearanceStatus computeLandingClearanceStatus() {
+    private TerrainClearanceStatus computeLandingClearanceStatus() {
         if (!data.isFlying() || data.player().isTouchingWater()) {
-            return LandingClearanceStatus.UNKNOWN;
+            return TerrainClearanceStatus.UNKNOWN;
+        }
+        if (plan.getDistanceToWaypoint() == null || phase.get() == Phase.TAKEOFF) {
+            return TerrainClearanceStatus.SILENCED;
         }
+
         if (plan.landAltitude == null) {
-            return LandingClearanceStatus.NOT_LANDING;
+            return data.heightAboveGround() >= 10.0f ? TerrainClearanceStatus.SAFE : TerrainClearanceStatus.TOO_LOW;
         }
 
-        Double distance = plan.getDistanceToWaypoint();
-        if (distance == null) {
-            throw new AssertionError();
+        float remaining = data.altitude() - plan.landAltitude;
+        if (remaining < 0.0f) {
+            return TerrainClearanceStatus.TOO_LOW;
         }
 
-        float minimumHeight = Math.min(data.heightAboveGround(), Math.abs(data.altitude() - plan.landAltitude));
-        if (data.velocity.y > -3.0f || distance / minimumHeight < AirDataComputer.OPTIMUM_GLIDE_RATIO) {
-            return LandingClearanceStatus.SAFE;
+        Double distance = plan.getDistanceToWaypoint();
+        float minimumHeight = Math.min(data.heightAboveGround(), remaining);
+        if (!plan.isBelowMinimums() && data.velocity.y > -3.0f || distance / minimumHeight < AirDataComputer.OPTIMUM_GLIDE_RATIO) {
+            return TerrainClearanceStatus.SAFE;
         }
 
-        return LandingClearanceStatus.TOO_LOW;
+        return TerrainClearanceStatus.TOO_LOW;
     }
 
     private boolean positiveLessOrEquals(float time, float lessOrEquals) {
@@ -192,14 +202,14 @@ public String getId() {
     public void reset() {
         descentImpactTime = STATUS_UNKNOWN;
         terrainImpactTime = STATUS_UNKNOWN;
-        landingClearanceStatus = LandingClearanceStatus.UNKNOWN;
+        terrainClearanceStatus = TerrainClearanceStatus.UNKNOWN;
         fireworkUseSafe = true;
     }
 
-    public enum LandingClearanceStatus {
+    public enum TerrainClearanceStatus {
         TOO_LOW,
         SAFE,
-        NOT_LANDING,
+        SILENCED,
         UNKNOWN
     }
 }
diff --git a/src/main/java/ru/octol1ttle/flightassistant/hud/impl/FlightModeDisplay.java b/src/main/java/ru/octol1ttle/flightassistant/hud/impl/FlightModeDisplay.java
index 6ce3e693..03076a59 100644
--- a/src/main/java/ru/octol1ttle/flightassistant/hud/impl/FlightModeDisplay.java
+++ b/src/main/java/ru/octol1ttle/flightassistant/hud/impl/FlightModeDisplay.java
@@ -58,7 +58,7 @@ public void render(DrawContext context, TextRenderer textRenderer) {
     }
 
     private void renderFireworkMode(DrawContext context, TextRenderer textRenderer) {
-        if (autoflight.autoThrustEnabled) {
+        if (autoflight.autoThrustEnabled && !Text.empty().equals(autopilot.thrustMode)) {
             thrustMode.update(autopilot.thrustMode);
         } else {
             String displayThrust = String.format("%.1f", Math.abs(thrust.getTargetThrust() * 100.0f)) + "%";
diff --git a/src/main/java/ru/octol1ttle/flightassistant/hud/impl/SpeedDisplay.java b/src/main/java/ru/octol1ttle/flightassistant/hud/impl/SpeedDisplay.java
index db9abe17..02dbd178 100644
--- a/src/main/java/ru/octol1ttle/flightassistant/hud/impl/SpeedDisplay.java
+++ b/src/main/java/ru/octol1ttle/flightassistant/hud/impl/SpeedDisplay.java
@@ -1,5 +1,6 @@
 package ru.octol1ttle.flightassistant.hud.impl;
 
+import java.awt.Color;
 import net.minecraft.client.font.TextRenderer;
 import net.minecraft.client.gui.DrawContext;
 import net.minecraft.text.Text;
@@ -7,6 +8,7 @@
 import ru.octol1ttle.flightassistant.Dimensions;
 import ru.octol1ttle.flightassistant.DrawHelper;
 import ru.octol1ttle.flightassistant.computers.impl.AirDataComputer;
+import ru.octol1ttle.flightassistant.computers.impl.autoflight.AutoFlightController;
 import ru.octol1ttle.flightassistant.config.FAConfig;
 import ru.octol1ttle.flightassistant.hud.api.IHudDisplay;
 import ru.octol1ttle.flightassistant.registries.ComputerRegistry;
@@ -14,6 +16,7 @@
 public class SpeedDisplay implements IHudDisplay {
     private final Dimensions dim;
     private final AirDataComputer data = ComputerRegistry.resolve(AirDataComputer.class);
+    private final AutoFlightController autoflight = ComputerRegistry.resolve(AutoFlightController.class);
 
     public SpeedDisplay(Dimensions dim) {
         this.dim = dim;
@@ -34,8 +37,9 @@ public void render(DrawContext context, TextRenderer textRenderer) {
         int xSpeedText = left - 5;
 
         if (FAConfig.indicator().showSpeedReadout) {
-            DrawHelper.drawRightAlignedText(textRenderer, context, DrawHelper.asText("%.2f", data.speed()), xSpeedText, dim.yMid - 3, FAConfig.indicator().frameColor);
-            DrawHelper.drawBorder(context, xSpeedText - 29, dim.yMid - 5, 30, FAConfig.indicator().frameColor);
+            Color color = getSpeedColor(data.speed());
+            DrawHelper.drawRightAlignedText(textRenderer, context, DrawHelper.asText("%.2f", data.speed()), xSpeedText, dim.yMid - 3, color);
+            DrawHelper.drawBorder(context, xSpeedText - 29, dim.yMid - 5, 30, color);
         }
 
         if (FAConfig.indicator().showSpeedScale) {
@@ -44,17 +48,27 @@ public void render(DrawContext context, TextRenderer textRenderer) {
                 if (y < top || y > (bottom - 5))
                     continue;
 
+                Color color = getSpeedColor(i);
                 if (i % 1 == 0) {
-                    DrawHelper.drawHorizontalLine(context, left - 2, right, y, FAConfig.indicator().frameColor);
+                    DrawHelper.drawHorizontalLine(context, left - 2, right, y, color);
                     if (!FAConfig.indicator().showSpeedReadout || y > dim.yMid + 7 || y < dim.yMid - 7) {
-                        DrawHelper.drawRightAlignedText(textRenderer, context, DrawHelper.asText("%.0f", i), xSpeedText, y - 3, FAConfig.indicator().frameColor);
+                        DrawHelper.drawRightAlignedText(textRenderer, context, DrawHelper.asText("%.0f", i), xSpeedText, y - 3, color);
                     }
                 }
-                DrawHelper.drawHorizontalLine(context, left, right, y, FAConfig.indicator().frameColor);
+                DrawHelper.drawHorizontalLine(context, left, right, y, color);
             }
         }
     }
 
+    private Color getSpeedColor(float speed) {
+        Integer targetSpeed = autoflight.getTargetSpeed();
+        if (targetSpeed != null && Math.abs(targetSpeed - speed) <= 1.0f) {
+            return FAConfig.indicator().advisoryColor;
+        } else {
+            return FAConfig.indicator().frameColor;
+        }
+    }
+
     @Override
     public void renderFaulted(DrawContext context, TextRenderer textRenderer) {
         DrawHelper.drawRightAlignedText(textRenderer, context, Text.translatable("short.flightassistant.speed"), dim.lFrame - 7, dim.yMid - 3, FAConfig.indicator().warningColor);
diff --git a/src/main/resources/assets/flightassistant/lang/en_us.yml b/src/main/resources/assets/flightassistant/lang/en_us.yml
index 9c50d37d..15e57225 100644
--- a/src/main/resources/assets/flightassistant/lang/en_us.yml
+++ b/src/main/resources/assets/flightassistant/lang/en_us.yml
@@ -181,7 +181,7 @@ alerts.flightassistant:
       elytra_state: ELYTRA SYS FAULT (PROT LOST)
       chunk_state: CHUNK SYS FAULT
       pitch_limit: PITCH LIMIT FAULT
-      autopilot_ctl: AUTOPILOT FAULT
+      autopilot: AUTOPILOT FAULT
       flight_phase: F/PHASE SYS FAULT
       roll_ctl: AUTO ROLL CTL FAULT
       dabr_roll: DABR ROLL CTL FAULT
@@ -235,17 +235,6 @@ mode.flightassistant:
     speed:
       selected: SPD %s
       managed: P. SPD %s
-  firework:
-    none_in_hotbar: NO FRWKS
-    locked: A/FRWK ONLY
-    manual: MAN FRWK
-    no_spd_alt: SET SPD/ALT
-    protection: FRWK PROT
-    idle: FRWK IDLE
-    climb: FRWK CLB
-    speed:
-      selected: SPD %s
-      managed: P. SPD %s
   vert:
     glide: OPT GLD
     climb:
@@ -258,6 +247,8 @@ mode.flightassistant:
     hold:
       selected: ALT %s
       managed: P. ALT %s
+      cruise: ALT CRZ %s
+    go_around: GA ALT
     land: LAND %s
   lat:
     takeoff: TO HDG %s
diff --git a/src/main/resources/assets/flightassistant/lang/ru_ru.yml b/src/main/resources/assets/flightassistant/lang/ru_ru.yml
index f11de6a5..5d3f36f2 100644
--- a/src/main/resources/assets/flightassistant/lang/ru_ru.yml
+++ b/src/main/resources/assets/flightassistant/lang/ru_ru.yml
@@ -181,7 +181,7 @@ alerts.flightassistant:
       elytra_state: ОТКАЗ УПР ЭЛИТРАМИ (ЗАЩИТЫ ПОТЕР)
       chunk_state: ОТКАЗ СОСТ ЧАНКОВ
       pitch_limit: ОТКАЗ ОГРАНИЧ ТАНГАЖА
-      autopilot_ctl: ОТКАЗ АВТОПИЛОТА
+      autopilot: ОТКАЗ АВТОПИЛОТА
       flight_phase: ОТКАЗ СИСТ ФАЗЫ ПОЛЕТА
       roll_ctl: ОТКАЗ АВТО УПР КРЕНОМ
       dabr_roll: ОТКАЗ УПР КРЕНОМ DABR
@@ -223,7 +223,12 @@ mode.flightassistant:
     not_set: НЕТ МИНИМ
   thrust:
     unavailable: ТЯГА НЕДОСТУПНА
-    toga: ВЗЛЕТН ТЯГА
+    manual:
+      .: РУЧН ТЯГА %s
+      reverse: РУЧН РЕВ %s
+      idle: РУЧН МАЛАЯ
+      toga: РУЧН ВЗЛТ
+    toga: АВТО ВЗЛ.ТЯГА
     climb: ТЯГА НАБОР
     climb_reduced: СНИЖЕН НАБОР
     idle: МАЛАЯ ТЯГА
@@ -242,6 +247,7 @@ mode.flightassistant:
     hold:
       selected: ВЫС %s
       managed: П. ВЫС %s
+      cruise: КРЕЙС ВЫС %s
     land: ПОСАДКА %s
   lat:
     takeoff: ВЗЛЕТ КРС %s