diff --git a/src/blims/blims.cpp b/src/blims/blims.cpp
index 66c7f6a..4dab554 100644
--- a/src/blims/blims.cpp
+++ b/src/blims/blims.cpp
@@ -53,13 +53,15 @@ void BLIMS::execute() {
         run_init_hold = false;
         printf("TEST 2\n\n\n\n\n");
     }
+    // don't want to increase curr_action duration during initial hold
+    if (run_init_hold) {
+        return;
+    }
 
     state::blims::curr_action_duration -= (state::flight::timestamp - curr_time);
     curr_time = to_ms_since_boot(get_absolute_time());
 
-    pwm_setup();
     if (state::blims::curr_action_duration <= 0 && !run_init_hold) {
-        state::blims::curr_action_index = state::blims::curr_action_index + 1;
         if (state::blims::curr_action_index >= 10) { // length calculation - need to fix and get size of action_arr
             state::blims::curr_action_index = 0;
             printf("TEST 4\n");
@@ -68,6 +70,7 @@ void BLIMS::execute() {
         printf("Action Index: %d\n", state::blims::curr_action_index);
         state::blims::curr_action_duration = action_arr[state::blims::curr_action_index].duration;
         set_motor_position(action_arr[state::blims::curr_action_index].position);
+        state::blims::curr_action_index = state::blims::curr_action_index + 1;
         state::flight::events.emplace_back(Event::blims_threshold_reached); // we've completed a motor action in action_arr
     }
     printf("TEST 5\n");
diff --git a/src/blims/blims.hpp b/src/blims/blims.hpp
index 762cbd6..c3e9950 100644
--- a/src/blims/blims.hpp
+++ b/src/blims/blims.hpp
@@ -31,13 +31,14 @@ class BLIMS {
         {1.0f, constants::turn_hold_threshold},
         {0.5f, constants::neutral_hold_threshold},
     };
+    void pwm_setup();
 
 private:
   // sets position of motor on a 0-1 scale
     void set_motor_position(float position);
 
   // pwm_setup configures the pwm signal
-    void pwm_setup();
+    
 
   // want wrap to be as large as possible, increases the amount of steps so that we have as much control as possible
     uint16_t wrap_cycle_count = 65535;
diff --git a/src/core/flight_mode.cpp b/src/core/flight_mode.cpp
index 61ce5fa..a382bda 100644
--- a/src/core/flight_mode.cpp
+++ b/src/core/flight_mode.cpp
@@ -250,6 +250,7 @@ void StartupMode::execute() {
             }
         }
     }
+    modules::blims.pwm_setup();
 }
 
 void StartupMode::transition() {