diff --git a/orchestrateur/main.py b/orchestrateur/main.py
index 6653d47..b376d85 100644
--- a/orchestrateur/main.py
+++ b/orchestrateur/main.py
@@ -230,6 +230,9 @@ async def request_cloud_cooking_plan(microwave_id, sensors_data):
             print(f"[{microwave_id}] Cloud Plan Received! Starting microwave: {c_time}s @ {c_power}W")
             cloud_alert = False  # Reset alert flag on success
             microwave_states[microwave_id] = MicrowaveState.COOKING
+            if config.DEBUG:
+                c_time = min(c_time, 10)  # Limit to 10s for debug
+                c_temp = min(c_temp, 50)  # Limit to 50°C for debug
             mqtt_client.publish(
                 config.MQTT_TOPIC_COOKING, 
                 payloads.mqtt_cooking_config(microwave_id, c_time, c_power, c_temp), 
@@ -306,8 +309,8 @@ async def get_filtered_dish_height(samples=3, delay=0.04):
     valid_samples = []
     for _ in range(samples):
         h = await asyncio.to_thread(ultrasonicRanger.get_dish_height)
-        # Discard 0.0 or near-zero timeout glitches
-        if h is not None and h > 0.5:
+        # Discard negative glitches
+        if h is not None and h >= 0.0:
             valid_samples.append(h)
         await asyncio.sleep(delay)