diff --git a/scheduler.c b/scheduler.c
index 5ba4e22..be9e9ea 100644
--- a/scheduler.c
+++ b/scheduler.c
@@ -114,7 +114,89 @@ void scheduler_main()
         scheduler_start_signal = 0;
     }
 
-    if (scheduler_en) {
+    if (hla_correct_command) {
+        if (one_robot_mode) {
+            switch (scheduler_correction_stage) {
+                case 0:
+                    if (hla_robot2_en) {
+                        if (robot2_code.PC < 0) {
+                            robot2_code.barrel_id = -1;
+                            robot2_code.code[0] = ROBOT_CMD_CORRECT_AXIS(ROBOT_AXIS_Z);
+                            robot2_code.code[1] = ROBOT_CMD_CORRECT_AXIS(ROBOT_AXIS_X);
+                            robot2_code.code[2] = ROBOT_CMD_END();
+                            robot2_code.PC = 0;
+
+                            scheduler_correction_stage++;
+                        }
+                    } else {
+                        if (robot1_code.PC < 0) {
+                            robot1_code.barrel_id = -1;
+                            robot1_code.code[0] = ROBOT_CMD_CORRECT_AXIS(ROBOT_AXIS_Z);
+                            robot1_code.code[1] = ROBOT_CMD_CORRECT_AXIS(ROBOT_AXIS_X);
+                            robot1_code.code[2] = ROBOT_CMD_MOVE_TO_PARKING();
+                            robot1_code.code[3] = ROBOT_CMD_END();
+                            robot1_code.PC = 0;
+
+                            scheduler_correction_stage++;
+                        }
+                    }
+                case 1:
+                    if (robot2_code.PC < 0 && robot1_code.PC < 0) {
+                        scheduler_correction_stage++;
+                    }
+                    break;
+
+                default:
+                    scheduler_correction_stage = 0;
+                    hla_correct_command = 0;
+            }
+        } else {
+            switch (scheduler_correction_stage) {
+                case 0:
+                    // сначала робота 2 отправляем на коррекцию
+                    if (robot2_code.PC < 0) {
+                        robot2_code.barrel_id = -1;
+                        robot2_code.code[0] = ROBOT_CMD_CORRECT_AXIS(ROBOT_AXIS_Z);
+                        robot2_code.code[1] = ROBOT_CMD_CORRECT_AXIS(ROBOT_AXIS_X);
+                        robot2_code.code[2] = ROBOT_CMD_END();
+                        robot2_code.PC = 0;
+
+                        scheduler_correction_stage++;
+                    }
+                    break;
+
+                case 1:
+                    if (robot2_code.PC < 0) {
+                        scheduler_correction_stage++;
+                    }
+                    break;
+
+                case 2:
+                    // потом робот 1
+                    if (robot1_code.PC < 0) {
+                        robot1_code.barrel_id = -1;
+                        robot1_code.code[0] = ROBOT_CMD_CORRECT_AXIS(ROBOT_AXIS_Z);
+                        robot1_code.code[1] = ROBOT_CMD_CORRECT_AXIS(ROBOT_AXIS_X);
+                        robot1_code.code[2] = ROBOT_CMD_MOVE_TO_PARKING();
+                        robot1_code.code[3] = ROBOT_CMD_END();
+                        robot1_code.PC = 0;
+
+                        scheduler_correction_stage++;
+                    }
+                    break;
+
+                case 3:
+                    if (robot1_code.PC < 0) {
+                        scheduler_correction_stage++;
+                    }
+                    break;
+
+                default:
+                    scheduler_correction_stage = 0;
+                    hla_correct_command = 0;
+            }
+        }
+    } else if (scheduler_en) {
 
         // программный таймер, применяется ко всем существующим барабанам
         if (_scheduler_software_timer) {
@@ -134,75 +216,7 @@ void scheduler_main()
             increment_zone(ROBOT_ZONE_GAL);
         }
 
-        if (hla_correct_command) {
-            if (one_robot_mode) {
-                if (hla_robot2_en) {
-                    if (robot2_code.PC < 0) {
-                        robot2_code.barrel_id = -1;
-                        robot2_code.code[0] = ROBOT_CMD_CORRECT_AXIS(ROBOT_AXIS_Z);
-                        robot2_code.code[1] = ROBOT_CMD_CORRECT_AXIS(ROBOT_AXIS_X);
-                        robot2_code.code[2] = ROBOT_CMD_END();
-                        robot2_code.PC = 0;
-
-                        hla_correct_command = 0;
-                    }
-                } else {
-                    if (robot1_code.PC < 0) {
-                        robot1_code.barrel_id = -1;
-                        robot1_code.code[0] = ROBOT_CMD_CORRECT_AXIS(ROBOT_AXIS_Z);
-                        robot1_code.code[1] = ROBOT_CMD_CORRECT_AXIS(ROBOT_AXIS_X);
-                        robot1_code.code[2] = ROBOT_CMD_END();
-                        robot1_code.PC = 0;
-
-                        hla_correct_command = 0;
-                    }
-                }
-            } else {
-                switch (scheduler_correction_stage) {
-                    case 0:
-                        // сначала робота 2 отправляем на коррекцию
-                        if (robot2_code.PC < 0) {
-                            robot2_code.barrel_id = -1;
-                            robot2_code.code[0] = ROBOT_CMD_CORRECT_AXIS(ROBOT_AXIS_Z);
-                            robot2_code.code[1] = ROBOT_CMD_CORRECT_AXIS(ROBOT_AXIS_X);
-                            robot2_code.code[2] = ROBOT_CMD_END();
-                            robot2_code.PC = 0;
-
-                            scheduler_correction_stage++;
-                        }
-                        break;
-
-                    case 1:
-                        if (robot2_code.PC < 0) {
-                            scheduler_correction_stage++;
-                        }
-                        break;
-
-                    case 2:
-                        // потом робот 1
-                        if (robot1_code.PC < 0) {
-                            robot1_code.barrel_id = -1;
-                            robot1_code.code[0] = ROBOT_CMD_CORRECT_AXIS(ROBOT_AXIS_Z);
-                            robot1_code.code[1] = ROBOT_CMD_CORRECT_AXIS(ROBOT_AXIS_X);
-                            robot1_code.code[2] = ROBOT_CMD_END();
-                            robot1_code.PC = 0;
-
-                            scheduler_correction_stage++;
-                        }
-                        break;
-
-                    case 3:
-                        if (robot1_code.PC < 0) {
-                            scheduler_correction_stage++;
-                        }
-                        break;
-
-                    default:
-                        scheduler_correction_stage = 0;
-                        hla_correct_command = 0;
-                }
-            }
-        } else if (!auto_mode_pause) {
+        if (!auto_mode_pause) {
             if ((hla_robot1_en && robot1_code.PC < 0) || (hla_robot2_en && robot2_code.PC < 0)) {
                 struct scheduler_task tasks[BARRELS_COUNT];