diff --git a/Arduino/display/button.ino b/Arduino/display/button.ino
index 29a24e3..0941896 100644
--- a/Arduino/display/button.ino
+++ b/Arduino/display/button.ino
@@ -119,10 +119,14 @@ void update_beep() {
   }
 }
 void button_pressed(int pin) {
-  button_press_times[pin] = millis();
-  button_pressed_states[pin] = true;
-  // light the LED
-  pcf.digitalWrite(led_pins[pin], LOW);
+  if ((autoPilot.getMode() == 0 && (pin == COMPASS_MODE_BUTTON_PIN || (pin == NAVIGATE_MODE_BUTTON_PIN && autoPilot.isWaypointSet() && autoPilot.hasFix()))) || 
+     ((autoPilot.getMode() != 0 && (pin == PORT_ADJUST_BUTTON_PIN || pin == STARBORD_ADJUST_BUTTON_PIN || 
+                                    pin == COMPASS_MODE_BUTTON_PIN || (pin == NAVIGATE_MODE_BUTTON_PIN && autoPilot.isWaypointSet() && autoPilot.hasFix()))))) {
+    button_press_times[pin] = millis();
+    button_pressed_states[pin] = true;
+    // light the LED
+    pcf.digitalWrite(led_pins[pin], LOW);
+  }
 }
 
 void button_release(int pin) {
@@ -145,7 +149,10 @@ void button_release(int pin) {
   DEBUG_PRINTLN(" ms");
 
   if (press_duration < 25) {
-    if (autoPilot.getMode() != 0 || (pin != PORT_ADJUST_BUTTON_PIN && pin != STARBORD_ADJUST_BUTTON_PIN)) {
+    //    if (autoPilot.getMode() != 0 || (pin != PORT_ADJUST_BUTTON_PIN && pin != STARBORD_ADJUST_BUTTON_PIN)) {
+    if ((autoPilot.getMode() == 0 && (pin == COMPASS_MODE_BUTTON_PIN || (pin == NAVIGATE_MODE_BUTTON_PIN && autoPilot.isWaypointSet() && autoPilot.hasFix()))) || 
+       ((autoPilot.getMode() > 0 && (pin == PORT_ADJUST_BUTTON_PIN || pin == STARBORD_ADJUST_BUTTON_PIN || 
+                                      pin == COMPASS_MODE_BUTTON_PIN || (pin == NAVIGATE_MODE_BUTTON_PIN && autoPilot.isWaypointSet() && autoPilot.hasFix()))))) {
       DEBUG_PRINT("Button ");
       DEBUG_PRINT(pin);
       DEBUG_PRINTLN(" Clicked");
@@ -168,15 +175,27 @@ void button_release(int pin) {
 
   switch (pin) {
     case PORT_ADJUST_BUTTON_PIN:
-      adjustment *= -1.0;
-      adjust_heading(adjustment);
-      DEBUG_PRINT("Port Adjust ");
-      DEBUG_PRINTLN(adjustment);
+      if (autoPilot.getMode() > 0) {
+        if (autoPilot.getMode() == 2) {
+          set_mode(1);
+          delay(1000);
+        }
+        adjustment *= -1.0;
+        adjust_heading(adjustment);
+        DEBUG_PRINT("Port Adjust ");
+        DEBUG_PRINTLN(adjustment);
+      }
       break;
     case STARBORD_ADJUST_BUTTON_PIN:
-      adjust_heading(adjustment);
-      DEBUG_PRINT("Port Adjust ");
-      DEBUG_PRINTLN(adjustment);
+      if (autoPilot.getMode() > 0) {
+        if (autoPilot.getMode() == 2) {
+          set_mode(1);
+          delay(1000);
+        }        
+        adjust_heading(adjustment);
+        DEBUG_PRINT("Port Adjust ");
+        DEBUG_PRINTLN(adjustment);
+      }
       break;
     case COMPASS_MODE_BUTTON_PIN:
       if (autoPilot.getMode() != 1) {
diff --git a/Arduino/display/command.ino b/Arduino/display/command.ino
index 2d35995..cbedb88 100644
--- a/Arduino/display/command.ino
+++ b/Arduino/display/command.ino
@@ -1,20 +1,45 @@
 #if defined(ARDUINO_ARCH_SAMD)  // Check if the board is based on the SAMD architecture (like Arduino Nano 33 IoT)
-  #include <WiFiNINA.h>
+#include <WiFiNINA.h>
 #elif defined(ARDUINO_ARCH_ESP32)  // Check if the board is based on the ESP32 architecture (like Arduino Nano ESP32)
-  #include <WiFi.h>
-  #include <WiFiUdp.h>
+#include <WiFi.h>
+#include <WiFiUdp.h>
 #else
-  #error "Unsupported board type. Please use Arduino Nano 33 IoT or Arduino Nano ESP32."
+#error "Unsupported board type. Please use Arduino Nano 33 IoT or Arduino Nano ESP32."
 #endif
 
 //#define MOCK_SEND false
-#define TIMEOUT_MS 1000 // Set your desired timeout value in milliseconds
+#define COMMAND_LEN 12
+#define TIMEOUT_MS 1000  // Set your desired timeout value in milliseconds
 #define COMMAND_PORT 8023
+#define COMMAND_DELAY 200
 
 IPAddress processor_ip(10, 20, 1, 2);
 WiFiClient client;
 
-void setup_command() { 
+char command[COMMAND_LEN];
+
+boolean connect() {
+  if (client.connected()) {
+    client.stop();
+  }
+  if (!client.connect(processor_ip, COMMAND_PORT)) {
+    Serial.println("Could not connect to processor.");
+    return false;
+  }
+  return true;
+}
+
+void send_command(const char* command) {
+  if (connect()) {
+    client.write('\0');
+    client.print(command);
+    client.write('\n');
+    client.flush();
+    delay(COMMAND_DELAY);
+  }
+}
+
+void setup_command() {
   // Set the timeout for WiFiClient
   client.setTimeout(TIMEOUT_MS);
 }
@@ -26,48 +51,24 @@ void check_command() {
 }
 
 void adjust_heading(float change) {
-#ifndef MOCK_SEND 
-    if (connect()) { 
-      client.print("a");
-      client.println(change);
-      client.flush();
-      DEBUG_PRINT("adjusting heading ");
-      DEBUG_PRINTLN(change);
-      disconnect();
-    } else {
-      DEBUG_PRINTLN("Could not adjust heading.");
-    }
+#ifndef MOCK_SEND
+  command[0] = '/0';
+  sprintf(command, "a%.2f", change);
+  send_command(command);
+  DEBUG_PRINT("adjusting heading ");
+  DEBUG_PRINTLN(change);
 #endif
 }
 
 void set_mode(int mode) {
-#ifndef MOCK_SEND 
-    if (connect()) { 
-      client.print("m");
-      client.println(mode);
-      client.flush();
-      DEBUG_PRINT("set mode ");
-      DEBUG_PRINTLN(mode);
-      disconnect();
-    } else {
-      DEBUG_PRINTLN("Could not set mode.");      
-    }
-#endif  
-}
+#ifndef MOCK_SEND
+  command[0] = '/0';
+  sprintf(command, "m%d", mode);
+  send_command(command);
+  DEBUG_PRINT("set mode ");
+  DEBUG_PRINTLN(mode);
 
-boolean connect() {
-  if (!client.connected()) {
-    if (!client.connect(processor_ip, COMMAND_PORT)) { 
-      DEBUG_PRINTLN("Could not connect to processor.");    
-      return false;
-    }
-  }  
-  return true;
+#endif
 }
 
-boolean disconnect() {
-  if (client.connected()) {
-    client.println("q");
-    client.stop();
-  }
-}
\ No newline at end of file
+
diff --git a/Arduino/display/screen.ino b/Arduino/display/screen.ino
index 7c41d4c..f1f8e2d 100644
--- a/Arduino/display/screen.ino
+++ b/Arduino/display/screen.ino
@@ -377,7 +377,7 @@ void display_distance() {
   distance_value_canvas.setTextColor(HX8357_CYAN);
   distance_value_canvas.setFont(&FreeSansBold24pt7b);
   distance_value_canvas.setCursor(0, 37);
-  if (autoPilot.isWaypointSet()) {
+  if (autoPilot.isWaypointSet() && autoPilot.hasFix()) {
     distance_value_canvas.print(autoPilot.getDistance(), 2);
   } else {
     distance_value_canvas.print("");